錯誤訊息Diagnostic Messages - MPx-16 to MPx-20 & PSB - R911326738 - 10

Rexroth IndraDrive
MPx-16 to MPx-20 and PSB

Diagnostic Messages
Reference Book Edition 10

R911326738
Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Title Rexroth IndraDrive

MPx-16 to MPx-20 and PSB
Diagnostic Messages
Type of Documentation Reference Book
Document Typecode DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
Internal File Reference RS-5624389d89da524c0a6846a001846601-9-en-US-4
Purpose of Documentation This documentation contains the descriptions of the diagnostic messages
implemented in the following firmware products:
● FWA-INDRV*-MPx-16VRS
● FWA-INDRV*-PSB-19VRS
● FWA-INDRV*-PSB-20VRS
It assists machine operators and installation programmers with
troubleshooting.
Record of Revision Edition Release Date Notes

DOK-INDRV*-GEN1-DIAG**-RE01-EN-P 2009‑06 to See chapter "About this
to DOK-INDRV*-GEN1-DIAG**-RE10- 2016‑12‑15 documentation", margin‐
EN-P al note "Editions of this
documentation"
Copyright © Bosch Rexroth AG 2016

This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth AG. It may not be
reproduced or given to third parties without its consent.
Trademark information Please note that the logos, terms, trademarks and brand names mentioned
and pictured in this documentation are properties of the respective
companies and/or organizations, and protected under trademark rights (see
chapter Trademark information).
Liability The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this
documentation and the availability of the product.
Editorial Department DC-IA/EDY1 (SA, BB)
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG I/711
Table of Contents
Table of Contents
Page
1 Introduction.................................................................................................................. 25
1.1 Trademark information.......................................................................................................................... 25
1.2 About this documentation..................................................................................................................... 25
1.3 Documentations.................................................................................................................................... 28
1.3.1 Drive systems, system components.................................................................................................. 28
1.3.2 Motors................................................................................................................................................ 29
1.3.3 Cables............................................................................................................................................... 29
1.3.4 Firmware............................................................................................................................................ 29
2 Important directions for use......................................................................................... 31

2.1 Appropriate use.................................................................................................................................... 31
2.1.1 Introduction........................................................................................................................................ 31
2.1.2 Areas of use and application............................................................................................................. 31
2.2 Inappropriate use.................................................................................................................................. 32
3 Safety instructions for electric drives and controls....................................................... 33

3.1 Definitions of terms............................................................................................................................... 33
3.2 General information.............................................................................................................................. 34
3.2.1 Using the Safety instructions and passing them on to others............................................................ 34
3.2.2 Requirements for safe use................................................................................................................ 34
3.2.3 Hazards by improper use.................................................................................................................. 35
3.3 Instructions with regard to specific dangers.......................................................................................... 36
3.3.1 Protection against contact with electrical parts and housings........................................................... 36
3.3.2 Protective extra-low voltage as protection against electric shock .................................................... 37
3.3.3 Protection against dangerous movements........................................................................................ 38
3.3.4 Protection against electromagnetic and magnetic fields during operation and mounting.................. 39
3.3.5 Protection against contact with hot parts........................................................................................... 40
3.3.6 Protection during handling and mounting.......................................................................................... 40
3.3.7 Battery safety..................................................................................................................................... 40
3.3.8 Protection against pressurized systems............................................................................................ 41
3.4 Explanation of signal words and the Safety alert symbol..................................................................... 42
4 Basics on device diagnostics....................................................................................... 43

4.1 Diagnostic system................................................................................................................................. 43
4.1.1 Detailed Diagnostics.......................................................................................................................... 43
4.1.2 Coded diagnostic messages of the drive........................................................................................... 43
4.1.3 Status classes, status displays, control parameters.......................................................................... 43
4.2 Control panel........................................................................................................................................ 43
4.3 Terms, basic principles......................................................................................................................... 43
5 Operating states........................................................................................................... 45
5.1 Operating states of the drive controllers............................................................................................... 45
5.2 Operating states of the supply unit Hxx05............................................................................................ 46
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6 Diagnostic Messages when Booting the Devices........................................................ 49

6.1 Devices with Valid Firmware................................................................................................................. 49
6.2 Devices without Valid Firmware............................................................................................................ 49
6.3 IndraMotion MLD Booting Messages.................................................................................................... 49
6.4 "Safe Motion" Booting Messages......................................................................................................... 50
7 Diagnostic status messages........................................................................................ 51

7.1 A0000 Communication phase 0............................................................................................................ 51
7.5 A0004 Initialization................................................................................................................................ 53
7.6 A0005 Pre-Operational......................................................................................................................... 53
7.7 A0006 Safe-Operational....................................................................................................................... 54
7.8 A0007 Operational................................................................................................................................ 54
7.9 A0008 sercos: NRT-Mode.................................................................................................................... 55
7.10 A0009 Automatic baud rate detection for sercos.................................................................................. 55
7.11 A0010 Drive HALT................................................................................................................................ 55
7.12 A0011 STO/SBC active........................................................................................................................ 56
7.13 A0012 Control and power sections ready for operation........................................................................ 56
7.14 A0013 Ready for power on................................................................................................................... 57
7.15 A0022 WAIT_PRM................................................................................................................................ 57
7.16 A0023 WAIT_CFG................................................................................................................................ 58
7.17 A0024 Connection established............................................................................................................. 58
7.18 A0025 Basic ethernet mode................................................................................................................. 58
7.19 A0026 Ready to operate....................................................................................................................... 59
7.20 A0029 Bootstrap................................................................................................................................... 59
7.21 A0030 Hot-plug phase 0....................................................................................................................... 59
7.22 A0031 Hot-plug phase 1....................................................................................................................... 59
7.23 A0032 Hot-plug phase 2....................................................................................................................... 60
7.25 A0050 Parameterization level 1 active................................................................................................. 60
7.26 A0051 Operating mode......................................................................................................................... 61
7.27 A0052 STO/SBC not active.................................................................................................................. 61
7.28 A0100 Torque control........................................................................................................................... 61
7.29 A0101 Velocity control.......................................................................................................................... 61
7.30 A0102 Position mode, encoder 1.......................................................................................................... 62
7.31 A0103 Position mode, encoder 2.......................................................................................................... 62
7.32 A0104 Position mode lagless, encoder 1............................................................................................. 62
7.33 A0105 Position mode lagless, encoder 2............................................................................................. 63
7.34 A0106 Drive-internal interpolation, encoder 1...................................................................................... 63
7.35 A0107 Drive-internal interpolation, encoder 2...................................................................................... 63
7.36 A0108 Drive controlled interpolation, lagless, encoder 1...................................................................... 64
7.37 A0109 Drive controlled interpolation, lagless, encoder 2...................................................................... 64
7.38 A0110 Velocity synchronization, virtual master axis............................................................................. 64
7.39 A0111 Velocity synchronization, real master axis................................................................................ 65
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG III/711
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7.40 A0112 Phase synchronization, encoder 1, virtual master axis............................................................. 65
7.41 A0113 Phase synchronization, encoder 2, virtual master axis............................................................. 65
7.42 A0114 Phase synchronization, encoder 1, real master axis................................................................. 65
7.43 A0115 Phase synchronization, encoder 2, real master axis................................................................. 66
7.44 A0116 Phase synchr. lagless, encoder 1, virtual master axis.............................................................. 66
7.45 A0117 Phase synchr. lagless, encoder 2, virtual master axis.............................................................. 66
7.46 A0118 Phase synchr. lagless, encoder 1, real master axis.................................................................. 67
7.47 A0119 Phase synchr. lagless, encoder 2, real master axis.................................................................. 67
7.48 A0128 Cam, encoder 1, virtual master axis.......................................................................................... 67
7.49 A0129 Cam, encoder 2, virtual master axis.......................................................................................... 67
7.50 A0130 Cam, encoder 1, real master axis............................................................................................. 68
7.51 A0131 Cam, encoder 2, real master axis............................................................................................. 68
7.52 A0132 Cam, lagless, encoder 1, virt. master axis................................................................................ 68
7.53 A0133 Cam, lagless, encoder 2, virt. master axis................................................................................ 69
7.54 A0134 Cam, lagless, encoder 1, real master axis................................................................................ 69
7.55 A0135 Cam, lagless, encoder 2, real master axis................................................................................ 69
7.56 A0136 MotionProfile, encoder 1, virtual master axis............................................................................ 70
7.57 A0137 MotionProfile, encoder 2, virtual master axis............................................................................ 70
7.58 A0138 MotionProfile, encoder 2, real master axis................................................................................ 70
7.59 A0139 MotionProfile, encoder 1, real master axis................................................................................ 71
7.60 A0140 MotionProfile lagless, encoder 1, virtual master axis................................................................ 71
7.61 A0141 MotionProfile lagless, encoder 2, virtual master axis................................................................ 71
7.62 A0142 MotionProfile lagless, encoder 1, real master axis.................................................................... 72
7.63 A0143 MotionProfile lagless, encoder 2, real master axis.................................................................... 72
7.64 A0150 Drive-controlled positioning, encoder 1..................................................................................... 72
7.65 A0151 Drive-controlled positioning, encoder 1, lagless........................................................................ 73
7.66 A0152 Drive-controlled positioning, encoder 2..................................................................................... 73
7.67 A0153 Drive-controlled positioning, encoder 2, lagless........................................................................ 74
7.68 A0154 Position mode drive controlled, encoder 1................................................................................ 75
7.69 A0155 Position mode drive controlled, encoder 2................................................................................ 75
7.70 A0156 Position mode lagless, encoder 1 drive controlled.................................................................... 75
7.71 A0157 Position mode lagless, encoder 2 drive controlled.................................................................... 76
7.72 A0160 Pos. ctrl drive-controlled with ctrl word of axis controller........................................................... 76
7.73 A0161 Drive-controlled posit. with ctrl word of axis controller.............................................................. 77
7.74 A0162 Positioning block mode............................................................................................................. 77
7.75 A0163 Position synchronization............................................................................................................ 78
7.76 A0164 Velocity synchronization............................................................................................................ 78
7.77 A0165 Position control with control word of axis controller................................................................... 78
7.78 A0166 Drive-internal interpolat. with ctrl word of axis controller........................................................... 79
7.79 A0206 Positioning block mode, encoder 1........................................................................................... 79
7.80 A0207 Positioning block mode lagless, encoder 1............................................................................... 79
7.81 A0210 Positioning block mode, encoder 2........................................................................................... 80
7.82 A0211 Positioning block mode lagless, encoder 2............................................................................... 80
7.83 A0300 Condition as supplied SMO: Output stage locked..................................................................... 80
7.84 A0301 Special mode Safe motion 1 active........................................................................................... 81
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7.93 A0310 Special mode Safe motion 10 active......................................................................................... 84
7.100 A0320 EMERGENCY STOP active...................................................................................................... 86
7.101 A0321 Special mode Safe standstill active with STO........................................................................... 86
7.102 A0322 Special mode Safe standstill active with SOS........................................................................... 86
7.103 A0323 SMO configuration mode active................................................................................................ 87
7.104 A0324 SMO: Normal operation............................................................................................................. 87
7.105 A0325 SMO parameter mode active.................................................................................................... 87
7.106 A0326 SMO parking axis active............................................................................................................ 87
7.107 A0327 SMO not active: Output stage not locked.................................................................................. 88
7.108 A0403 Quick stop with probe detection is active.................................................................................. 88
7.109 A0500 Supply module in voltage control.............................................................................................. 88
7.110 A0501 Supply module in current control............................................................................................... 88
7.111 A0502 Supply module in operation....................................................................................................... 89
7.112 A0503 DC bus charging active............................................................................................................. 89
7.113 A0504 Control section ready for oper., mains voltage not available.................................................... 89
7.114 A0505 Power supply module ready for operation................................................................................. 89
7.115 A0506 Supply module in rectifier mode................................................................................................ 89
7.116 A0520 DC bus quick discharge active.................................................................................................. 90
7.117 A4000 Automatic drive check and adjustment...................................................................................... 90
7.118 A4001 Drive deceleration to standstill.................................................................................................. 90
7.119 A4002 Drive in automatic mode............................................................................................................ 91
7.120 A4003 Setting-up mode is active.......................................................................................................... 91
7.121 A4004 Drive without drive enable......................................................................................................... 91
7.122 A4005 Drive decelerated by motor phase short circuit......................................................................... 92
7.123 A4006 Drive decelerated in a controlled way....................................................................................... 92
7.124 A4007 "Drive on" delay time................................................................................................................. 92
7.125 A4008 "Drive off" delay time................................................................................................................. 93
7.126 A4009 Motor phase short circuit with drive enable switched off........................................................... 93
7.127 A4010 Drive control command active................................................................................................... 93
8 Error messages............................................................................................................ 95
8.1 Fatal system errors (F9xxx).................................................................................................................. 95
8.1.1 Behavior in the Case of Fatal System Errors.................................................................................... 95
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG V/711
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8.1.2 F9001 Error internal function call....................................................................................................... 95
8.1.3 F9002 Error internal RTOS function call............................................................................................ 96
8.1.4 F9003 Watchdog............................................................................................................................... 96
8.1.5 F9005 Processor exception............................................................................................................... 96
8.1.6 F9100 Hardware watchdog............................................................................................................... 96
8.1.7 F9200 Booting error programming module........................................................................................ 97
8.1.8 F9201 Booting error device............................................................................................................... 97
8.1.9 F9202 Processor watchdog............................................................................................................... 97
8.2 Fatal errors (F8xxx).............................................................................................................................. 98
8.2.1 Behavior in the Case of Fatal Errors (F8xxx).................................................................................... 98
8.2.2 F8000 Fatal hardware error............................................................................................................... 99
8.2.3 F8001 Telegram failure, power section parallel bus.......................................................................... 99
8.2.4 F8003 Communication error with mains connection module........................................................... 100
8.2.5 F8005 Motor initialization velocity too high...................................................................................... 100
8.2.6 F8008 Autom. commutation: Axis blocked...................................................................................... 100
8.2.7 F8009 Autom. commutation timeout: Axis in motion....................................................................... 101
8.2.8 F8010 Autom. commutation: Max. motion range when moving back.............................................. 101
8.2.9 F8011 Commutation offset could not be determined....................................................................... 102
8.2.10 F8012 Autom. commutation: Max. motion range............................................................................. 103
8.2.11 F8013 Automatic commutation: Current too low............................................................................. 104
8.2.12 F8014 Automatic commutation: Overcurrent................................................................................... 105
8.2.13 F8015 Automatic commutation: Timeout......................................................................................... 105
8.2.14 F8016 Automatic commutation: Iteration without result................................................................... 106
8.2.15 F8017 Automatic commutation: Incorrect commutation adjustment................................................ 106
8.2.16 F8018 Device overtemperature shutdown....................................................................................... 107
8.2.17 F8021 Motor encoder: Incorrect enc. signals (can be cleared in PM)............................................. 108
8.2.18 F8022 Enc. 1: Enc. signals incorr. (can be cleared in PM).............................................................. 109
8.2.19 F8025 Overvoltage in power section............................................................................................... 110
8.2.20 F8027 STO/SBC while drive enabled.............................................................................................. 110
8.2.21 F8028 Overcurrent in power section............................................................................................... 111
8.2.22 F8033 Ground fault in motor line..................................................................................................... 111
8.2.23 F8034 Communication error, power section modules..................................................................... 112
8.2.24 F8042 Encoder 2 error: Signal amplitude incorrect......................................................................... 112
8.2.25 F8044 Device-internal module communication disturbed................................................................ 113
8.2.26 F8055 Incorrect processing of diagnostic message........................................................................ 113
8.2.27 F8060 Overcurrent in power section............................................................................................... 114
8.2.28 F8064 Interruption of motor phase.................................................................................................. 114
8.2.29 F8069 Error in device-internal power supply................................................................................... 115
8.2.30 F8070 Control voltage failure.......................................................................................................... 116
8.2.31 F8071 Overvoltage of control voltage.............................................................................................. 116
8.2.32 F8076 Error in error angle loop....................................................................................................... 117
8.2.33 F8078 Speed loop error................................................................................................................... 118
8.2.34 F8079 Velocity limit value exceeded............................................................................................... 119
8.2.35 F8091 Power section defective....................................................................................................... 119
8.2.36 F8099 Fatal error in power section.................................................................................................. 120
8.2.37 F8100 Error when initializing the parameter handling..................................................................... 120
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8.2.38 F8102 Error when initializing power section.................................................................................... 121
8.2.39 F8118 Invalid power section/firmware combination......................................................................... 122
8.2.40 F8120 Invalid control section/firmware combination........................................................................ 122
8.2.41 F8122 Control section defective...................................................................................................... 123
8.2.42 F8128 Error when initializing an optional interface.......................................................................... 123
8.2.43 F8129 Incorrect optional module firmware...................................................................................... 124
8.2.44 F8140 Fatal CCD error.................................................................................................................... 124
8.2.45 F8300 Dynamization pulse width incorrect...................................................................................... 124
8.2.46 F8301 Error when checking selection signals................................................................................. 125
8.2.47 F8302 Error when checking switch-off channels STO/SBC............................................................ 126
8.2.48 F8303 System error STO/SBC........................................................................................................ 126
8.2.49 F8304 SMO: System error............................................................................................................... 127
8.2.50 F8313 SMO: Incorrect parameterization......................................................................................... 127
8.2.51 F8314 SMO: Incorrect configuration................................................................................................ 127
8.2.52 F8315 SMO: Error in encoder initialization...................................................................................... 129
8.2.53 F8316 SMO: Incorrect change of system state............................................................................... 130
8.2.54 F8319 SMO: INIT system error....................................................................................................... 130
8.2.55 F8320 SMO: Invalid module/firmware combination......................................................................... 130
8.2.56 F8321 SMO: Invalid circuit board/firmware combination................................................................. 130
8.2.57 F8323 SMO: Error in deactivation................................................................................................... 131
8.2.58 F8324 SMO: Error in activation....................................................................................................... 131
8.2.59 F8330 SMO: Configuration data record has not been activated..................................................... 132
8.2.60 F8350 Maximum transition time exceeded...................................................................................... 132
8.2.61 F8351 Safely-monitored deceleration exceeded............................................................................. 133
8.2.62 F8352 Drive enable set in STO....................................................................................................... 134
8.2.63 F8353 SBC system error................................................................................................................. 134
8.2.64 F8354 Error when checking interrupting circuits............................................................................. 135
8.2.65 F8355 Incorrect processing of diagnostic message........................................................................ 136
8.2.66 F8356 SMO: Incorrect parameter processing................................................................................. 136
8.2.67 F8359 SMO: Encoder evaluation error............................................................................................ 136
8.2.68 F8395 SMO: Drive system configuration error................................................................................ 137
8.2.69 F8813 Connection error mains choke............................................................................................. 137
8.2.70 F8815 Overvoltage in mains............................................................................................................ 138
8.2.71 F8817 Overvoltage in power section............................................................................................... 138
8.2.72 F8820 Braking resistor overload...................................................................................................... 139
8.2.73 F8821 Transistor short circuit of braking resistor control................................................................. 139
8.2.74 F8830 Power section error.............................................................................................................. 140
8.2.75 F8833 Ground fault current (does not decay).................................................................................. 140
8.2.76 F8835 Inconsistency in power section configuration....................................................................... 140
8.2.77 F8836 DC bus balancing monitor.................................................................................................... 141
8.2.78 F8838 Overcurrent external braking resistor................................................................................... 142
8.2.79 F8860 Overcurrent in power section (does not decay).................................................................... 142
8.2.80 F8899 Fatal error in power section.................................................................................................. 143
8.3 Safety technology errors (F7xxx)........................................................................................................ 144
8.3.1 Behavior in Case of Safety Technology Errors................................................................................ 144
8.3.2 F7009 Homing velocity exceeded................................................................................................... 145
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG VII/711
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8.3.3 F7010 Safely-limited increment exceeded...................................................................................... 145
8.3.4 F7011 SMP, SLP: Safe position limit value, positive exceeded...................................................... 146
8.3.5 F7012 SMP, SLP: Safe position limit value, negative exceeded..................................................... 147
8.3.6 F7013 Velocity threshold exceeded................................................................................................ 148
8.3.7 F7014 Timeout in safely-monitored transient oscillation................................................................. 148
8.3.8 F7015 SMO: Cross data comparison error...................................................................................... 149
8.3.9 F7020 Safe maximum speed exceeded.......................................................................................... 149
8.3.10 F7023 SLE: Safe position limit value, positive exceeded................................................................ 149
8.3.11 F7024 SLE: Safe position limit value, negative exceeded............................................................... 150
8.3.12 F7030 Position window for safe operating stop exceeded.............................................................. 151
8.3.13 F7031 Incorrect direction of motion................................................................................................. 152
8.3.14 F7032 Forced zone safety............................................................................................................... 153
8.3.15 F7033 Safety zone module: Hardware error................................................................................... 153
8.3.16 F7034 Safety zone module: SDL error............................................................................................ 154
8.3.17 F7035 Zone bus error...................................................................................................................... 154
8.3.18 F7050 Maximum transition time exceeded...................................................................................... 155
8.3.19 F7051 Safely-monitored deceleration exceeded............................................................................. 157
8.3.20 F7052 Selected target velocity exceeded........................................................................................ 159
8.3.21 F7100 F7 test error during machine acceptance test...................................................................... 159
8.4 Errors of category F6xxx..................................................................................................................... 159
8.4.1 Behavior in Case of Errors of Category F6xxx................................................................................ 159
8.4.2 F6001 Non-fatal system error.......................................................................................................... 160
8.4.3 F6002 Assignment of encoder for synchronization is not allowed................................................... 160
8.4.4 F6003 Motion step skipped............................................................................................................. 161
8.4.5 F6004 Error in MotionProfile............................................................................................................ 161
8.4.6 F6005 Cam table invalid.................................................................................................................. 163
8.4.7 F6006 Incorrect initialization of effective master axis position......................................................... 163
8.4.8 F6007 Switching to non-initialized operation mode......................................................................... 164
8.4.9 F6008 Internal overflow when calculating positioning profile.......................................................... 164
8.4.10 F6010 PLC runtime error................................................................................................................. 165
8.4.11 F6024 Maximum braking time exceeded......................................................................................... 165
8.4.12 F6028 Position limit value exceeded (overflow).............................................................................. 166
8.4.13 F6029 Positive position limit exceeded........................................................................................... 167
8.4.14 F6030 Negative position limit exceeded.......................................................................................... 168
8.4.15 F6034 Emergency-Stop activated................................................................................................... 169
8.4.16 F6042 Both travel range limit switches activated............................................................................ 169
8.4.17 F6043 Positive travel range limit switch activated........................................................................... 170
8.4.18 F6044 Negative travel range limit switch activated......................................................................... 171
8.4.19 F6058 Internal overflow by positioning input................................................................................... 172
8.4.20 F6059 Incorrect command value direction when positioning........................................................... 172
8.4.21 F6140 CCD slave error (emergency halt)........................................................................................ 173
8.4.22 F6200 Velocity command value > standstill window in SOS........................................................... 173
8.5 Interface errors (F4xxx)...................................................................................................................... 174
8.5.1 Behavior in Case of Interface Errors .............................................................................................. 174
8.5.2 F4001 Sync telegram failure............................................................................................................ 174
8.5.3 F4002 RTD telegram failure............................................................................................................ 175
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8.5.4 F4003 Invalid communication phase shutdown............................................................................... 176
8.5.5 F4004 Error during phase progression............................................................................................ 176
8.5.6 F4005 Error during phase regression.............................................................................................. 177
8.5.7 F4006 Phase switching without ready signal................................................................................... 177
8.5.8 F4009 Bus failure............................................................................................................................ 177
8.5.9 F4011 Communication watchdog: Overload of cyclic communication............................................ 179
8.5.10 F4012 Incorrect I/O length............................................................................................................... 180
8.5.11 F4016 PLC double real-time channel failure................................................................................... 180
8.5.12 F4017 sercos: Incorrect sequence during phase switch................................................................. 180
8.5.13 F4019 sercos: Incorrect sequence upon phase start...................................................................... 181
8.5.14 F4020 sercos: Cable break (L+F to NRT)....................................................................................... 181
8.5.15 F4034 Emergency-Stop activated................................................................................................... 182
8.5.16 F4140 CCD communication error.................................................................................................... 183
8.5.17 F4141 CCD: IO configuration changed........................................................................................... 183
8.5.18 F4142 CCD: Ring buffer overflow.................................................................................................... 183
8.5.19 F4150 CSAL error........................................................................................................................... 184
8.6 Non-fatal safety technology errors (F3xxx)......................................................................................... 184
8.6.1 Behavior in the Case of Non-Fatal Safety Technology Errors (F3xxx)............................................ 184
8.6.2 F3010 SMO: IO mapper inputs error............................................................................................... 185
8.6.3 F3100 F3 test error during machine acceptance test...................................................................... 186
8.6.4 F3101 Axis validation missing......................................................................................................... 186
8.6.5 F3112 Safe reference missing......................................................................................................... 186
8.6.6 F3115 Brake check time interval exceeded..................................................................................... 187
8.6.7 F3119 Error in initialization of P-0-3212.......................................................................................... 187
8.6.8 F3131 Control error, safe inputs of HSZ.......................................................................................... 188
8.6.9 F3132 SDL validation error.............................................................................................................. 188
8.6.10 F3134 Dynamization time interval incorrect.................................................................................... 189
8.6.11 F3135 Zone bus error...................................................................................................................... 190
8.6.12 F3141 Operating status selection validation error........................................................................... 190
8.6.13 F3142 Activation time of enabling control exceeded....................................................................... 191
8.6.14 F3150 Safety zone module: Temperature monitoring error............................................................. 191
8.6.15 F3151 Safety zone module: 24 volt error........................................................................................ 192
8.6.16 F3152 Safety zone module: DYN error........................................................................................... 192
8.6.17 F3153 Safety zone module: SZE/SZA error.................................................................................... 192
8.6.18 F3165 Faulty SMO reference signal................................................................................................ 193
8.6.19 F3166 Reference position check failed........................................................................................... 193
8.6.20 F3167 Encoder evaluation warning................................................................................................. 194
8.6.21 F3304 SMO: System error............................................................................................................... 194
8.6.22 F3360 SMO: Local I/O system error................................................................................................ 194
8.6.23 F3450 CSS stack error.................................................................................................................... 195
8.6.24 F3451 FSoE stack error.................................................................................................................. 196
8.6.25 F3452 FSoE stack connection error................................................................................................ 197
8.6.26 F3460 PROFIsafe error................................................................................................................... 197
8.6.27 F3461 PROFIsafe connection error................................................................................................. 198
8.7 Non-fatal errors (F2xxx)...................................................................................................................... 198
8.7.1 Behavior in Case of Non-Fatal Errors.............................................................................................. 198
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8.7.2 F2001 Communication error, power section parallel bus................................................................ 199
8.7.3 F2002 Assignment of encoder for synchronization is not allowed................................................... 199
8.7.4 F2003 Motion step skipped............................................................................................................. 200
8.7.5 F2004 Error in MotionProfile............................................................................................................ 200
8.7.6 F2005 Cam table invalid.................................................................................................................. 202
8.7.7 F2007 Switching to non-initialized operation mode......................................................................... 202
8.7.8 F2008 RL The motor type has changed.......................................................................................... 203
8.7.9 F2009 PL Load parameter default values....................................................................................... 203
8.7.10 F2010 Error when initializing digital I/O (-> S-0-0423)..................................................................... 204
8.7.11 F2011 PLC - Error no. 1.................................................................................................................. 205
8.7.12 F2012 PLC - Error no. 2.................................................................................................................. 205
8.7.13 F2013 PLC - Error no. 3.................................................................................................................. 206
8.7.14 F2014 PLC - Error no. 4.................................................................................................................. 206
8.7.15 F2015 PLC - Error no. 5.................................................................................................................. 207
8.7.16 F2016 PLC - Error no. 6.................................................................................................................. 207
8.7.17 F2017 PLC - Error no. 7.................................................................................................................. 207
8.7.18 F2018 Device overtemperature shutdown....................................................................................... 208
8.7.19 F2019 Motor overtemperature shutdown........................................................................................ 209
8.7.20 F2020 Low device temperature error.............................................................................................. 210
8.7.21 F2021 Motor temperature monitor defective................................................................................... 210
8.7.22 F2022 Device temperature monitor defective.................................................................................. 211
8.7.23 F2025 Drive not ready for control.................................................................................................... 211
8.7.24 F2026 Undervoltage in power section............................................................................................. 212
8.7.25 F2027 Excessive oscillation in DC bus............................................................................................ 212
8.7.26 F2028 Excessive deviation.............................................................................................................. 213
8.7.27 F2031 Encoder 1 error: Signal amplitude incorrect......................................................................... 213
8.7.28 F2032 Validation error during commutation fine adjustment........................................................... 214
8.7.29 F2036 Excessive position feedback difference............................................................................... 215
8.7.30 F2037 Excessive position command difference.............................................................................. 216
8.7.31 F2040 Device overtemperature 2 shutdown.................................................................................... 217
8.7.32 F2042 Encoder 2: Encoder signals incorrect................................................................................... 217
8.7.33 F2043 Measuring encoder: Encoder signals incorrect.................................................................... 218
8.7.34 F2048 Low battery voltage (encoder).............................................................................................. 219
8.7.35 F2050 Overflow of target position preset memory........................................................................... 220
8.7.36 F2051 No sequential block in target position preset memory.......................................................... 221
8.7.37 F2053 Incr. encoder emulator: Pulse frequency too high................................................................ 221
8.7.38 F2054 Incr. encoder emulator: Hardware error............................................................................... 222
8.7.39 F2055 External power supply dig. I/O error..................................................................................... 222
8.7.40 F2056 Overload at dig. I/Os............................................................................................................ 223
8.7.41 F2057 Target position out of travel range........................................................................................ 223
8.7.42 F2058 Internal overflow by positioning input................................................................................... 224
8.7.43 F2059 Incorrect command value direction when positioning........................................................... 225
8.7.44 F2063 Internal overflow master axis generator............................................................................... 226
8.7.45 F2064 Incorrect cmd value direction master axis generator............................................................ 226
8.7.46 F2067 Synchronization to master communication incorrect............................................................ 226
8.7.47 F2068 Brake error........................................................................................................................... 227
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8.7.48 F2072 Error in power supply of brake............................................................................................. 228
8.7.49 F2074 Actual pos. value 1 outside absolute encoder window......................................................... 228
8.7.52 F2077 Current measurement trim wrong......................................................................................... 231
8.7.53 F2086 Error supply module............................................................................................................. 231
8.7.54 F2087 Module group communication error...................................................................................... 232
8.7.55 F2100 Incorrect access to command value memory....................................................................... 232
8.7.56 F2101 File system structure error on the memory card................................................................... 233
8.7.57 F2102 It was impossible to address I2C memory............................................................................ 233
8.7.58 F2103 It was impossible to address EnDat memory....................................................................... 234
8.7.59 F2104 Commutation offset invalid................................................................................................... 234
8.7.60 F2105 Cannot address OEM encoder memory............................................................................... 235
8.7.61 F2106 Power section error.............................................................................................................. 235
8.7.62 F2107 Incorrect commutation angle................................................................................................ 235
8.7.63 F2110 Error in non-cyclical data communic. of power section........................................................ 236
8.7.64 F2120 Memory card could not be initialized.................................................................................... 237
8.7.65 F2131 Incorrect switching state of probe 1 input signal.................................................................. 237
8.7.66 F2140 CCD slave error.................................................................................................................... 238
8.7.67 F2150 MLD motion function block error.......................................................................................... 238
8.7.68 F2174 Loss of encoder 1 reference................................................................................................. 239
8.7.69 F2175 Loss of encoder 2 reference................................................................................................. 240
8.7.70 F2176 Loss of measuring encoder reference.................................................................................. 241
8.7.71 F2177 Encoder 1 modulo limitation error........................................................................................ 242
8.7.72 F2178 Encoder 2 modulo limitation error........................................................................................ 242
8.7.73 F2179 Modulo limitation error of measuring encoder...................................................................... 243
8.7.74 F2190 Incorrect Ethernet configuration........................................................................................... 243
8.7.75 F2191 No automatic CCD slaves IP configuration.......................................................................... 244
8.7.76 F2270 Analog input, wire break....................................................................................................... 244
8.7.77 F2802 Error in mains synchronization............................................................................................. 245
8.7.78 F2811 Mains underfrequency.......................................................................................................... 245
8.7.79 F2812 Mains overfrequency............................................................................................................ 246
8.7.80 F2813 Mains connection function error........................................................................................... 246
8.7.81 F2814 Undervoltage in mains.......................................................................................................... 246
8.7.82 F2815 Overvoltage in mains............................................................................................................ 247
8.7.83 F2816 Softstart fault power supply unit........................................................................................... 248
8.7.84 F2818 Phase failure........................................................................................................................ 248
8.7.85 F2819 Mains failure......................................................................................................................... 249
8.7.86 F2820 Braking resistor overload...................................................................................................... 249
8.7.87 F2821 Error in control of braking resistor........................................................................................ 250
8.7.88 F2822 Mains connection temperature monitoring defective............................................................ 251
8.7.89 F2825 Switch-on threshold braking resistor too low........................................................................ 251
8.7.90 F2834 Contactor control error......................................................................................................... 252
8.7.91 F2836 DC bus balancing monitor error........................................................................................... 252
8.7.92 F2841 Shutdown: Mains connection overtemperature.................................................................... 252
8.7.93 F2860 Overcurrent in mains-side power section............................................................................. 253
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG XI/711
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8.8 sercos Service Channel Error Codes / Error Messages of Serial Communication............................. 254
9 Warnings (Exxxx)....................................................................................................... 257

9.1 Fatal warnings (E8xxx)....................................................................................................................... 257
9.1.1 Behavior in the Case of Fatal Warnings.......................................................................................... 257
9.1.2 E8022 Encoder 1: Encoder signals incorrect.................................................................................. 257
9.1.3 E8023 Encoder 2: Encoder signals incorrect.................................................................................. 257
9.1.4 E8025 Overvoltage in power section............................................................................................... 258
9.1.5 E8026 Undervoltage in power section............................................................................................. 259
9.1.6 E8027 STO/SBC while drive enabled.............................................................................................. 259
9.1.7 E8028 Overcurrent in power section............................................................................................... 260
9.1.8 E8029 Positive position limit exceeded........................................................................................... 260
9.1.9 E8030 Negative position limit exceeded.......................................................................................... 261
9.1.10 E8034 Emergency-Stop activated................................................................................................... 262
9.1.11 E8040 Torque/force actual value limit active................................................................................... 263
9.1.12 E8041 Current limit active............................................................................................................... 263
9.1.13 E8042 Both travel range limit switches activated............................................................................ 263
9.1.14 E8043 Positive travel range limit switch activated........................................................................... 264
9.1.15 E8044 Negative travel range limit switch activated......................................................................... 265
9.1.16 E8055 Motor overload, current limit active...................................................................................... 266
9.1.17 E8057 Device overload, current limit active.................................................................................... 267
9.1.18 E8058 Drive system not ready for operation................................................................................... 267
9.1.19 E8260 Torque/force command value limit active............................................................................. 268
9.1.20 E8300 SMO: Error within the safety zone....................................................................................... 269
9.1.21 E8399 Error in processing of diagnostic message.......................................................................... 269
9.1.22 E8819 Mains failure......................................................................................................................... 269
9.2 Warnings of category E4xxx............................................................................................................... 270
9.2.1 E4001 Sync telegram failure........................................................................................................... 270
9.2.2 E4002 RTD telegram failure............................................................................................................ 270
9.2.3 E4005 No command value input via master communication........................................................... 271
9.2.4 E4006 Communication module overload......................................................................................... 272
9.2.5 E4007 sercos: Consumer connection failed.................................................................................... 272
9.2.6 E4008 Invalid addressing command value data container A........................................................... 273
9.2.7 E4009 Invalid addressing actual value data container A................................................................. 273
9.2.8 E4010 Slave not scanned or address 0........................................................................................... 274
9.2.9 E4011 Communication watchdog: Overload of cyclic communication............................................ 274
9.2.10 E4012 Maximum number of CCD slaves exceeded........................................................................ 274
9.2.11 E4013 Incorrect CCD addressing.................................................................................................... 275
9.2.12 E4014 Incorrect phase switch of CCD slaves................................................................................. 275
9.2.13 E4016 CCD: Topology error............................................................................................................ 276
9.2.14 E4017 CCD: Unknown I/O configuration......................................................................................... 277
9.2.15 E4020 sercos: Ring interruption (FF to LF)..................................................................................... 277
9.2.16 E4021 CCD: Not all slaves support SWC........................................................................................ 278
9.2.17 E4040 sercos: Hot-plug error.......................................................................................................... 278
9.2.18 E4041 sercos: HP0 Cycle Time invalid........................................................................................... 278
9.2.19 E4042 sercos: HP0 MDT length invalid........................................................................................... 279
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9.2.20 E4043 sercos: HP0 AT length invalid.............................................................................................. 279
9.2.21 E4044 sercos: HP0 MTU size invalid.............................................................................................. 279
9.2.22 E4045 sercos: HP0 NRT window invalid......................................................................................... 279
9.2.23 E4046 sercos: HP supported removed............................................................................................ 280
9.2.24 E4047 sercos: HP enabled removed............................................................................................... 280
9.3 Warnings of category E3xxx............................................................................................................... 280
9.3.1 E3112 Safe reference missing........................................................................................................ 280
9.3.2 E3113 Prewarning: End of reference position check time interval.................................................. 281
9.3.3 E3115 Prewarning, end of brake check time interval...................................................................... 282
9.3.4 E3460 PROFIsafe: Wrong F-module selected................................................................................ 282
9.4 Non-fatal warnings (E2xxx)................................................................................................................. 282
9.4.1 Behavior in Case a Non-Fatal Warning Occurs............................................................................... 282
9.4.2 E2001 Diagnostic trace S-0-1303.0.10 overflow warning................................................................ 283
9.4.3 E2004 Performance load prewarning threshold exceeded.............................................................. 283
9.4.4 E2005 One-time telegram failure, power section parallel bus......................................................... 284
9.4.5 E2008 Position control with encoder 1 not possible........................................................................ 284
9.4.6 E2009 Synchronous velocity command value > limit value............................................................. 284
9.4.7 E2010 Position control with encoder 2 not possible........................................................................ 285
9.4.8 E2011 PLC - Warning no. 1............................................................................................................. 285
9.4.9 E2012 PLC - Warning no. 2............................................................................................................. 286
9.4.10 E2013 PLC - Warning no. 3............................................................................................................. 286
9.4.11 E2014 PLC - Warning no. 4............................................................................................................. 286
9.4.12 E2015 PLC - Warning no. 5............................................................................................................. 287
9.4.13 E2016 PLC - Warning no. 6............................................................................................................. 287
9.4.14 E2017 PLC - Warning no. 7............................................................................................................. 288
9.4.15 E2020 Differing DC bus voltages with parallel connection.............................................................. 288
9.4.16 E2021 Motor temperature outside of measuring range................................................................... 288
9.4.17 E2022 Collective warning of power section..................................................................................... 289
9.4.18 E2023 Current unbalance in parallel connection............................................................................. 289
9.4.19 E2024 Device fan defective............................................................................................................. 289
9.4.21 E2031 Encoder 1 warning: Signal amplitude incorrect.................................................................... 290
9.4.22 E2037 Excessive position command difference warning................................................................ 291
9.4.23 E2040 Device overtemperature 2 prewarning................................................................................. 292
9.4.24 E2042 Encoder 2 warning: Encoder signals incorrect..................................................................... 293
9.4.25 E2043 Measuring encoder warning: Encoder signals incorrect...................................................... 294
9.4.26 E2048 Low battery voltage (encoder).............................................................................................. 295
9.4.27 E2049 Positioning velocity >= limit value........................................................................................ 295
9.4.28 E2050 Device overtemp. prewarning.............................................................................................. 296
9.4.29 E2051 Motor overtemp. prewarning................................................................................................ 297
9.4.30 E2053 Target position out of travel range....................................................................................... 298
9.4.31 E2054 Not homed............................................................................................................................ 299
9.4.32 E2055 Feedrate override S-0-0108 = 0........................................................................................... 300
9.4.33 E2056 Torque limit = 0.................................................................................................................... 301
9.4.34 E2058 Selected positioning block has not been programmed........................................................ 301
9.4.35 E2059 Velocity command value limit active.................................................................................... 302
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9.4.36 E2061 Device overload prewarning................................................................................................. 303
9.4.37 E2063 Velocity command value > limit value.................................................................................. 304
9.4.38 E2070 Acceleration limit active........................................................................................................ 304
9.4.39 E2074 Encoder 1: Encoder signals disturbed................................................................................. 305
9.4.40 E2075 Encoder 2: Encoder signals disturbed................................................................................. 306
9.4.41 E2076 Measuring encoder: Encoder signals disturbed................................................................... 307
9.4.42 E2077 Absolute encoder monitoring, encoder 1 (encoder alarm)................................................... 308
9.4.43 E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)............................................... 308
9.4.44 E2079 Absolute enc. monitoring, measuring encoder (encoder alarm).......................................... 309
9.4.45 E2086 Prewarning supply module overload.................................................................................... 309
9.4.46 E2092 Internal synchronization defective........................................................................................ 310
9.4.47 E2099 Power section warning......................................................................................................... 311
9.4.48 E2100 Positioning velocity of master axis generator too high......................................................... 311
9.4.49 E2140 CCD error at node................................................................................................................ 311
9.4.50 E2266 Restoring device data requires control panel action............................................................ 312
9.4.51 E2267 Updating device data requires control panel action............................................................. 313
9.4.52 E2667 Machine archive is not up-to-date........................................................................................ 314
9.4.53 E2810 Drive system not ready for operation................................................................................... 315
9.4.54 E2811 Overtemp. in mains connection module/soft start module................................................... 315
9.4.55 E2814 Undervoltage in mains......................................................................................................... 316
9.4.57 E2819 Mains failure......................................................................................................................... 316
9.4.58 E2820 Braking resistor overload prewarning................................................................................... 317
9.4.59 E2822 Mains connection temperature monitoring defective............................................................ 317
9.4.60 E2829 Not ready for power on......................................................................................................... 318
9.4.61 E2834 Switching off via OFF input.................................................................................................. 318
9.4.62 E2841 Prewarning: Mains connection overtemperature.................................................................. 319
10 Diagnostic command messages ............................................................................... 321

10.1 Commands......................................................................................................................................... 321
10.1.1 C0100 Communication phase 3 transition check............................................................................ 321
10.1.2 C0200 Exit parameterization level procedure command................................................................. 321
10.1.3 C0300 Set absolute position procedure command.......................................................................... 321
10.1.4 C0400 Activate parameterization level 1 procedure command....................................................... 321
10.1.5 C0500 Reset class 1 diagnostics, error reset.................................................................................. 322
10.1.6 C0600 Drive-controlled homing procedure command..................................................................... 322
10.1.7 C0700 Load defaults proced. command (motor-spec. controller val.)............................................. 322
10.1.8 C0710 Command Load power-supply specific controller values..................................................... 323
10.1.9 C0720 SMO: Load defaults procedure command........................................................................... 324
10.1.10 C0730 Load defaults procedure command (MLD).......................................................................... 324
10.1.11 C0740 Command Activate field bus profile settings........................................................................ 325
10.1.12 C0750 Load defaults procedure command (factory settings).......................................................... 325
10.1.13 C0900 Position spindle command................................................................................................... 326
10.1.14 C1200 Commutation offset setting command................................................................................. 326
10.1.15 C1300 Positive stop drive procedure command.............................................................................. 326
10.1.16 C1400 Command Get marker position............................................................................................ 326
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10.1.17 C1500 Cancel reference point procedure command....................................................................... 327
10.1.18 C1600 Parking axis command......................................................................................................... 327
10.1.19 C1800 Command Drive optimization/command value box.............................................................. 327
10.1.20 C2000 Command Release motor holding brake............................................................................. 328
10.1.21 C2100 Command Holding system check........................................................................................ 328
10.1.22 C2200 Backup working memory procedure command.................................................................... 328
10.1.23 C2300 Load working memory procedure command........................................................................ 329
10.1.24 C2400 Selectively backup working memory procedure command.................................................. 329
10.1.25 C2800 Analog input adjustment command...................................................................................... 329
10.1.26 C3100 Recalculate actual value cycle............................................................................................. 330
10.1.27 C3200 Command Calculate motor data.......................................................................................... 330
10.1.28 C3300 Set coordinate system procedure command....................................................................... 330
10.1.29 C3400 Shift coordinate system procedure command...................................................................... 331
10.1.30 C3600 Command Motor data identification..................................................................................... 331
10.1.31 C3800 Command Apply motor holding brake.................................................................................. 332
10.1.32 C3900 Command Holding brake resurfacing.................................................................................. 332
10.1.33 C4000 SMO: Safe homing procedure command............................................................................. 332
10.1.34 C4100 Switch parameter set command.......................................................................................... 332
10.1.35 C4200 Drive-controlled oscillation command.................................................................................. 333
10.1.36 C4300 NC-controlled homing procedure command........................................................................ 333
10.1.37 C4400 Calculate displacement procedure command...................................................................... 333
10.1.38 C4500 Displacement to referenced system procedure command................................................... 333
10.1.39 C4600 Command Calculate motor control parameters................................................................... 334
10.1.40 C4800 Command Determine cogging torque compensation table.................................................. 334
10.1.41 C4900 PLC command..................................................................................................................... 334
10.1.42 C5200 Communication phase 4 transition check............................................................................ 334
10.1.43 C5300 sercos: Command SYNC delay measurement.................................................................... 335
10.1.44 C5600 Command Subsequent optimization of commutation offset................................................. 335
10.1.45 C6100 Command Activate IP settings............................................................................................. 335
10.1.46 C6300 Generate type plate command............................................................................................. 336
10.1.47 C6400 Reboot command................................................................................................................. 336
10.1.48 C6500 Archive device data.............................................................................................................. 337
10.1.49 C6600 Restore device data............................................................................................................. 337
10.1.50 C6700 Update of device data.......................................................................................................... 337
10.1.51 C6800 Control command device data archiving.............................................................................. 338
10.1.52 C7000 CCD: Command adjust slave addresses............................................................................. 338
10.1.53 C7100 CCD: Command Close ring................................................................................................. 338
10.1.54 C7200 CCD: Command Apply I/O configuration............................................................................. 338
10.1.55 C7400 CCD: Switching to phase 2.................................................................................................. 338
10.1.56 C7500 CCD: Switching to phase 4.................................................................................................. 339
10.1.57 C7600 Command Create parameter image.................................................................................... 339
10.1.58 C8000 SMO: Command Apply scaling............................................................................................ 339
10.1.59 C8100 SMO: Command Activate configuration mode..................................................................... 339
10.1.60 C8200 SMO: Command Exit configuration mode............................................................................ 340
10.1.61 C8300 SMO: Command Activate parameter image........................................................................ 340
10.1.62 C8400 SMO: Command Apply encoder configuration..................................................................... 340
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10.1.63 C8500 SMO: Command Apply identification data........................................................................... 340
10.1.64 C8600 SMO: Command Measure position difference..................................................................... 340
10.1.65 C9100 Confirm power section configuration command................................................................... 340
10.1.66 C9900 Service function command................................................................................................... 341
10.2 Command errors................................................................................................................................. 341
10.2.1 Clearing command errors................................................................................................................ 341
10.2.2 C0101 Invalid parameters (-> S-0-0021)......................................................................................... 341
10.2.3 C0102 Limit error in parameter (-> S-0-0021)................................................................................. 342
10.2.4 C0103 Parameter conversion error (->S-0-0021)............................................................................ 342
10.2.5 C0104 Config. IDN for MDT not configurable.................................................................................. 343
10.2.6 C0105 Maximum length for MDT exceeded.................................................................................... 343
10.2.7 C0106 Config. IDNs for AT not configurable................................................................................... 344
10.2.8 C0107 Maximum length for AT exceeded....................................................................................... 344
10.2.9 C0108 Time slot parameter > sercos cycle time............................................................................. 344
10.2.10 C0109 Telegram offset unsuitable................................................................................................... 345
10.2.11 C0110 Length of MDT (S-0-0010) odd............................................................................................ 345
10.2.12 C0111 ID9 + Record length - 1 > length MDT (S-0-0010)............................................................... 346
10.2.13 C0112 Set timing not permissible.................................................................................................... 346
10.2.14 C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error......................................................... 347
10.2.15 C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)......................................................................... 348
10.2.16 C0115 T2 too small......................................................................................................................... 348
10.2.17 C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)............................................................... 348
10.2.18 C0118 Order of cyclic command value configuration incorrect....................................................... 349
10.2.19 C0132 Invalid settings for controller cycle times............................................................................. 349
10.2.20 C0133 Master communication: Address conflict............................................................................. 350
10.2.21 C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002)................................................. 350
10.2.22 C0151 IDN for command value data container not allowed............................................................ 351
10.2.23 C0152 IDN for actual value data container not allowed.................................................................. 351
10.2.24 C0170 Config. IDNs for connection not configurable...................................................................... 352
10.2.25 C0171 Maximum length for connections exceeded......................................................................... 352
10.2.26 C0172 Delay measurement (S-0-1024) not carried out................................................................... 352
10.2.27 C0173 Connections (number) not configurable............................................................................... 353
10.2.28 C0174 Connection configuration not allowed.................................................................................. 353
10.2.29 C0175 Producer cycle time of a connection not correct.................................................................. 353
10.2.30 C0201 Invalid parameters (->S-0-0423).......................................................................................... 354
10.2.31 C0202 Parameter limit error (->S-0-0423)....................................................................................... 354
10.2.32 C0203 Parameter conversion error (->S-0-0423)............................................................................ 354
10.2.33 C0204 Inadmissible motor-amplifier combination............................................................................ 355
10.2.34 C0205 Invalid power parameters (-> logbook)................................................................................ 355
10.2.35 C0206 Error when accessing machine archive............................................................................... 355
10.2.36 C0207 Machine archive is not up-to-date........................................................................................ 356
10.2.37 C0208 Combination of actuator syst./encoder scaling not supported............................................. 357
10.2.38 C0209 Incorrect encoder configuration........................................................................................... 357
10.2.39 C0210 Feedback 2 required (->S-0-0423)....................................................................................... 358
10.2.40 C0211 Invalid encoder configuration (3 active encoders)............................................................... 358
10.2.41 C0212 Invalid control section data (->S-0-0423)............................................................................. 358
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10.2.42 C0213 SMO: Incorrect parameterization......................................................................................... 359
10.2.43 C0214 SMO: Incorrect configuration............................................................................................... 359
10.2.44 C0215 SMO: Error in encoder initialization..................................................................................... 362
10.2.45 C0216 SMO: SCM-OM switching not allowed................................................................................. 362
10.2.46 C0219 Max. travel range too large.................................................................................................. 362
10.2.47 C0220 Error when initializing position of encoder 1........................................................................ 363
10.2.48 C0221 Initialization velocity encoder 1 too high.............................................................................. 363
10.2.49 C0222 Error during motor encoder initialization.............................................................................. 364
10.2.50 C0223 Invalid settings for controller cycle times............................................................................. 364
10.2.51 C0224 Error when initializing position of encoder 2........................................................................ 365
10.2.52 C0225 Initialization velocity encoder 2 too high.............................................................................. 365
10.2.53 C0227 Error when initializing position of measuring encoder.......................................................... 366
10.2.54 C0228 Initialization velocity measuring encoder too high................................................................ 366
10.2.55 C0229 Field bus: IDN for cycl. command val. not configurable....................................................... 367
10.2.56 C0230 Field bus: Max. length for cycl. command val. exceeded.................................................... 367
10.2.57 C0231 Field bus: IDN for cycl. actual val. not configurable............................................................. 367
10.2.58 C0232 Field bus: Length for cycl. actual values exceeded............................................................. 368
10.2.59 C0233 Field bus: Tcyc (P-0-4076) incorrect.................................................................................... 368
10.2.60 C0234 Field bus: P-0-4077 missing for cycl. command values....................................................... 368
10.2.61 C0238 Order of cyclic command value configuration incorrect....................................................... 369
10.2.62 C0239 IDN for command value data container not allowed............................................................ 369
10.2.63 C0240 IDN for actual value data container not allowed.................................................................. 370
10.2.64 C0241 Incorrect parameterization of motion task............................................................................ 370
10.2.65 C0242 Multiple configuration of a parameter (->S-0-0423)............................................................. 371
10.2.66 C0243 Brake check function not possible....................................................................................... 372
10.2.67 C0244 Act. modulo value cycle greater than max. travel range...................................................... 373
10.2.68 C0245 Operation mode configuration (->S-0-0423) not allowed..................................................... 373
10.2.69 C0250 Probe inputs incorrectly configured...................................................................................... 374
10.2.70 C0251 Error during synchronization to master communication....................................................... 374
10.2.71 C0252 Incorrect MLD initialization (write access->S-0-0423).......................................................... 375
10.2.72 C0253 Error in combination operation mode - encoder (->S-0-0423)............................................. 375
10.2.73 C0256 Safety technology configuration error.................................................................................. 376
10.2.74 C0258 Error in relation TNcyc (S-0-0001) to fine interpol............................................................... 376
10.2.75 C0259 MLD configuration error (->S-0-0423).................................................................................. 377
10.2.76 C0260 Incremental enc. emulator resol. cannot be displayed......................................................... 378
10.2.77 C0263 Serial number of motor has changed................................................................................... 379
10.2.78 C0265 Incorrect CCD address configuration................................................................................... 379
10.2.79 C0266 Incorrect CCD phase switch................................................................................................ 380
10.2.80 C0267 CCD timeout phase switch................................................................................................... 380
10.2.81 C0270 Error when reading encoder data => encoder 1.................................................................. 381
10.2.82 C0271 Incorrect encoder 1 parameterization.................................................................................. 382
10.2.83 C0272 Incorrect encoder 1 parameterization (mechanics).............................................................. 383
10.2.84 C0273 Modulo value for encoder 1 cannot be displayed................................................................ 383
10.2.85 C0274 Encoder 1 unknown............................................................................................................. 384
10.2.86 C0275 Error when reading encoder data => encoder 2.................................................................. 384
10.2.87 C0276 Incorrect encoder 2 parameterization.................................................................................. 386
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG XVII/711
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10.2.88 C0277 Incorrect encoder 2 parameterization (mechanics).............................................................. 386
10.2.89 C0278 Modulo value for encoder 2 cannot be displayed................................................................ 387
10.2.90 C0279 Encoder 2 unknown............................................................................................................. 387
10.2.91 C0280 Maximum travel range cannot be displayed internally......................................................... 388
10.2.92 C0281 Commutation resolution too small........................................................................................ 389
10.2.93 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters................................................ 389
10.2.94 C0283 Error during initialization of motor control (->S-0-0423)....................................................... 389
10.2.95 C0284 Invalid motor data in encoder memory (->S-0-0423)........................................................... 390
10.2.96 C0285 Type of construction of motor P-0-4014 incorrect................................................................ 390
10.2.97 C0286 Several motor encoders connected..................................................................................... 391
10.2.98 C0287 Error during initialization of motor data (->S-0-0423)........................................................... 391
10.2.99 C0288 Rotary scaling not allowed................................................................................................... 392
10.2.100 C0289 Error at init. of synchr. motor with reluctance torque........................................................... 392
10.2.101 C0290 Error when reading encoder data => measuring encoder................................................... 393
10.2.102 C0291 Incorr. parameterization of measuring enc. (hardware)....................................................... 394
10.2.103 C0292 Measuring encoder unknown............................................................................................... 395
10.2.104 C0293 Modulo value for measuring encoder cannot be displayed.................................................. 396
10.2.105 C0294 Incorrect measuring encoder configuration.......................................................................... 396
10.2.106 C0295 Internal display error during scaling conversion (NM).......................................................... 397
10.2.107 C0296 Error in initialization of absolute encoder monitoring........................................................... 397
10.2.108 C0297 Encoder type not possible for selected constr. type of motor.............................................. 397
10.2.109 C0298 Impossible to exit parameterization level............................................................................. 398
10.2.110 C0299 Configuration changed. Restart........................................................................................... 398
10.2.111 C0301 Measuring system unavailable............................................................................................. 399
10.2.112 C0302 Absolute evaluation of measuring system impossible......................................................... 399
10.2.113 C0303 Absolute encoder offset cannot be saved............................................................................ 400
10.2.114 C0304 Command cannot be executed under drive enable............................................................. 400
10.2.115 C0401 Switching not allowed.......................................................................................................... 400
10.2.116 C0403 Switching to CCD phase 2 impossible................................................................................. 401
10.2.117 C0404 SMO: Incorrect change of system state............................................................................... 401
10.2.118 C0501 Error clearing only in parameter mode................................................................................. 401
10.2.119 C0601 Homing only possible with drive enable............................................................................... 402
10.2.120 C0602 Distance home switch - reference mark erroneous............................................................. 402
10.2.121 C0603 Homing impossible with optional encoder............................................................................ 402
10.2.122 C0604 Homing impossible with absolute encoder........................................................................... 403
10.2.123 C0606 Reference mark not detected............................................................................................... 403
10.2.124 C0607 Reference cam input not assigned...................................................................................... 404
10.2.125 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 404
10.2.126 C0609 Different travel directions parameterized............................................................................. 404
10.2.127 C0610 Absolute encoder offset could not be saved........................................................................ 405
10.2.128 C0611 Travel range greater than absolute range (distance-coded)................................................ 405
10.2.129 C0702 Default parameters not available......................................................................................... 406
10.2.130 C0703 Default parameters invalid................................................................................................... 406
10.2.131 C0704 Parameters not copyable..................................................................................................... 406
10.2.132 C0706 Error when reading the controller parameters..................................................................... 407
10.2.133 C0711 Loading requires determination of system parameters........................................................ 407
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10.2.134 C0721 SMO: Load defaults procedure not possible........................................................................ 407
10.2.135 C0722 SMO: Error in load defaults procedure................................................................................ 408
10.2.136 C0723 SMO: Error in deactivation................................................................................................... 408
10.2.137 C0743 Error in activation of field bus profile settings...................................................................... 408
10.2.138 C0751 Parameter default value incorrect (-> S-0-0423).................................................................. 409
10.2.139 C0752 Locked with password.......................................................................................................... 409
10.2.140 C0761 Factory default values incorrect (->S-0-0423)...................................................................... 409
10.2.141 C0762 Locked with password.......................................................................................................... 410
10.2.142 C0763 Load defaults procedure (application data), invalid param.................................................. 410
10.2.143 C0799 An invalid index was set....................................................................................................... 410
10.2.144 C0902 Spindle positioning requires drive enable............................................................................ 411
10.2.145 C0903 Error during initialization...................................................................................................... 411
10.2.146 C0906 Error during search for zero pulse....................................................................................... 411
10.2.147 C1204 Error in offset calculation..................................................................................................... 412
10.2.148 C1208 No adjustment with asynchronous motor............................................................................. 412
10.2.149 C1209 Proceed to phase 4.............................................................................................................. 413
10.2.150 C1211 Commutation offset could not be determined...................................................................... 413
10.2.151 C1212 Motion range exceeded during commutation....................................................................... 413
10.2.152 C1214 Command only possible with linear synchronous motor...................................................... 414
10.2.153 C1215 Command only possible in 'bb'............................................................................................ 414
10.2.154 C1216 Commutation determination not selected............................................................................ 414
10.2.155 C1217 Setting only possible in 'Ab'................................................................................................. 415
10.2.156 C1218 Automatic commutation: Current too low............................................................................. 415
10.2.157 C1219 Automatic commutation: Overcurrent.................................................................................. 416
10.2.158 C1220 Automatic commutation: Timeout........................................................................................ 416
10.2.159 C1221 Automatic commutation: Iteration without result.................................................................. 416
10.2.160 C1222 Error when writing offset parameters................................................................................... 417
10.2.161 C1223 Command execution impossible.......................................................................................... 417
10.2.162 C1224 Zero point shifting only possible in parameter mode........................................................... 418
10.2.163 C1225 Zero point shifting only possible with master password....................................................... 418
10.2.164 C1301 Class 1 diagnostics error at command start......................................................................... 418
10.2.165 C1402 Faulty reference mark signal................................................................................................ 419
10.2.166 C1801 Start requires drive enable................................................................................................... 419
10.2.167 C1802 No useful motor data............................................................................................................ 419
10.2.168 C1803 Inertia detection failed.......................................................................................................... 420
10.2.169 C1804 Automatic controller setting failed........................................................................................ 421
10.2.170 C1805 Travel range invalid.............................................................................................................. 421
10.2.171 C1806 Travel range exceeded........................................................................................................ 422
10.2.172 C1807 Determining travel range only via travel distance................................................................ 422
10.2.173 C1808 Drive not homed................................................................................................................... 423
10.2.174 C1809 Command start only possible with active position limits...................................................... 423
10.2.175 C1810 Drive optimization incorrectly configured............................................................................. 423
10.2.176 C2001 Command not enabled......................................................................................................... 424
10.2.177 C2101 Holding system check only possible with drive enable........................................................ 424
10.2.178 C2103 Holding brake: Torque too low............................................................................................. 424
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG XIX/711
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10.2.180 C2105 Load of holding system greater than test torque.................................................................. 425
10.2.181 C2106 Test torque of holding system not reached.......................................................................... 426
10.2.182 C2108 Error when releasing the holding system............................................................................. 428
10.2.183 C2202 Error when writing data to non-volatile memory................................................................... 429
10.2.184 C2301 Error when reading non-volatile memory............................................................................. 429
10.2.185 C2302 Error when converting parameters....................................................................................... 429
10.2.186 C2402 Error when saving parameters............................................................................................. 430
10.2.187 C2801 Analog input not configured................................................................................................. 430
10.2.188 C2802 Oscillations of input signal outside tolerance range............................................................. 430
10.2.189 C2803 Measured values at zero point and max. value identical..................................................... 431
10.2.190 C2804 Automatic adjustment failed................................................................................................. 431
10.2.191 C3101 Act. modulo value cycle greater than max. travel range...................................................... 431
10.2.192 C3102 Drive is still in drive enable.................................................................................................. 431
10.2.193 C3201 Incorrect input for current..................................................................................................... 432
10.2.194 C3202 Incorrect input for voltage.................................................................................................... 432
10.2.195 C3203 Incorrect input for frequency................................................................................................ 432
10.2.196 C3204 Incorrect input for speed...................................................................................................... 433
10.2.197 C3205 Incorrect input for power factor............................................................................................ 433
10.2.198 C3206 Incorrect input for power...................................................................................................... 433
10.2.199 C3207 Type plate list incomplete.................................................................................................... 434
10.2.200 C3208 Error when writing parameters (->S-0-0423)....................................................................... 434
10.2.202 C3601 Motor not or not correctly connected................................................................................... 435
10.2.203 C3602 Determined values invalid.................................................................................................... 435
10.2.204 C3603 Device current limit too low.................................................................................................. 435
10.2.206 C3605 Motor turning........................................................................................................................ 436
10.2.207 C3606 Type of construction of motor not allowed........................................................................... 437
10.2.208 C3607 Motor revolution/motion impeded......................................................................................... 437
10.2.209 C3608 Incorrect motor phases or rotational direction of encoder.................................................... 437
10.2.210 C3609 Incorrect number of pole pairs or number of encoder lines................................................. 438
10.2.211 C3610 No encoder: Validation check impossible............................................................................ 438
10.2.212 C3611 Test velocity not reached..................................................................................................... 439
10.2.214 C3901 Resurfacing of holding brake only possible with drive enable............................................. 440
10.2.215 C3902 Error during resurfacing of holding brake............................................................................. 440
10.2.217 C4001 Encoder evaluation error during Safe homing procedure.................................................... 441
10.2.218 C4002 Incorrect SMO position feedback value............................................................................... 441
10.2.219 C4003 Home switch distance below minimum value...................................................................... 442
10.2.220 C4004 Faulty SMO reference signal............................................................................................... 442
10.2.221 C4101 Switching only possible without AF...................................................................................... 443
10.2.222 C4103 Preselect parameter set forbidden value............................................................................. 443
10.2.223 C4104 Error during parameter set switching (->S-0-0423).............................................................. 443
10.2.224 C4201 Oscillation requires drive enable.......................................................................................... 444
10.2.225 C4202 Oscillation command speed cannot be reached.................................................................. 444
XX/711 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
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10.2.226 C4302 Distance home switch - reference mark erroneous............................................................. 444
10.2.227 C4304 Homing impossible with absolute encoder........................................................................... 445
10.2.228 C4306 Reference mark not detected............................................................................................... 445
10.2.229 C4307 Reference cam input not assigned...................................................................................... 446
10.2.230 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 446
10.2.232 C4801 Cogging torque compensation: Measuring vel. too high...................................................... 447
10.2.233 C4802 Cogging torque compensation: Measuring vel. too low....................................................... 447
10.2.234 C4803 Cogging torque compensation: Inadmissible acceleration................................................... 447
10.2.235 C4804 Cogging torque comp.: Err. when storing corr. val table...................................................... 448
10.2.236 C4805 Cogging torque comp.: Motor measuring system not homed.............................................. 448
10.2.237 C4806 Cogging torque compensation: Measuring range invalid..................................................... 448
10.2.238 C4901 PLC command error no. 1.................................................................................................... 449
10.2.242 C4910 PLC command timeout........................................................................................................ 450
10.2.243 C5301 sercos: Delay measurement failed....................................................................................... 450
10.2.244 C5601 Command requires drive enable.......................................................................................... 451
10.2.245 C5602 Axis blocked......................................................................................................................... 451
10.2.246 C5603 Timeout: Axis in motion........................................................................................................ 451
10.2.247 C6101 Incorrect IP settings............................................................................................................. 452
10.2.248 C6301 Command is password-protected........................................................................................ 452
10.2.249 C6302 IDN not permissible (->S-0-0423)........................................................................................ 453
10.2.250 C6303 Insufficient memory.............................................................................................................. 453
10.2.251 C6304 Type plate unknown............................................................................................................. 454
10.2.252 C6305 General type plate generation error..................................................................................... 454
10.2.253 C6310 Command not possible with this encoder type.................................................................... 454
10.2.254 C6311 Error when accessing encoder memory.............................................................................. 455
10.2.255 C6401 reboot command impossible................................................................................................ 455
10.2.256 C6501 Error when creating machine archive.................................................................................. 455
10.2.257 C6502 Error when reading device data........................................................................................... 456
10.2.258 C6503 Inconsistent backup of machine archive.............................................................................. 456
10.2.259 C6504 MLD boot project not on memory card................................................................................. 457
10.2.260 C6601 Error when accessing machine archive............................................................................... 457
10.2.261 C6602 Error when writing device data............................................................................................. 458
10.2.262 C6604 Error when reading device data........................................................................................... 459
10.2.263 C6605 Device data incompletely restored....................................................................................... 459
10.2.264 C6606 PLC user program is active.................................................................................................. 460
10.2.265 C6701 Error when accessing update archive.................................................................................. 460
10.2.266 C6702 Error when writing device data............................................................................................. 461
10.2.267 C6703 Warning - Incomplete update of device data....................................................................... 462
10.2.268 C6704 Machine archive is not up-to-date........................................................................................ 463
10.2.269 C6706 PLC user program is active.................................................................................................. 464
10.2.270 C7001 CCD: Impossible to adjust slave addresses........................................................................ 464
10.2.271 C7101 CCD: Impossible to close ring.............................................................................................. 464
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG XXI/711
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10.2.272 C7201 CCD: Impossible to apply I/O configuration......................................................................... 465
10.2.273 C7401 CCD: Impossible to switch to phase 2................................................................................. 465
10.2.274 C7501 CCD: Impossible to switch to phase 4................................................................................. 465
10.2.275 C7601 Memory access impossible.................................................................................................. 466
10.2.276 C7602 Slave access impossible...................................................................................................... 466
10.2.277 C8001 SMO: Invalid scaling parameters ->S-0-0423...................................................................... 467
10.2.278 C8002 SMO: Not allowed to apply scaling...................................................................................... 467
10.2.279 C8101 SMO: Command execution impossible................................................................................ 467
10.2.280 C8213 SMO: Incorrect parameterization......................................................................................... 467
10.2.281 C8214 SMO: Incorrect configuration............................................................................................... 468
10.2.282 C8215 SMO: Incorrect encoder/scaling configuration..................................................................... 470
10.2.283 C8301 SMO: Incorrect parameter image......................................................................................... 470
10.2.284 C8302 SMO: Parameter image presently cannot be applied.......................................................... 471
10.2.285 C8401 SMO: Impossible to apply encoder type.............................................................................. 471
10.2.286 C8402 SMO: Impossible to apply encoder configuration................................................................ 471
10.2.287 C8403 SMO: Parameter for applying encoder configuration invalid................................................ 472
10.2.288 C8501 SMO: Impossible to apply axis identification........................................................................ 472
10.2.289 C8502 SMO: Impossible to apply TUNID........................................................................................ 472
10.2.290 C8601 SMO: Encoder evaluation is inactive................................................................................... 473
10.2.291 C9101 Confirm power section configuration command error.......................................................... 473
11 Diagnostic messages of HMV01 supply units............................................................ 475

11.1 VM Lb / A0500 Supply module in voltage control............................................................................... 475
11.2 VM Lb / A0502 Supply module in operation....................................................................................... 475
11.3 VM charg / A0503 DC bus charging active......................................................................................... 475
11.4 VM ZKS / A0520 DC bus quick discharge active................................................................................ 475
11.5 VM AF / A0800 Unknown operating mode......................................................................................... 476
11.6 VM E2818 / E2818 Phase failure........................................................................................................ 476
11.7 VM E8802 / E8802 PLL is not synchronized...................................................................................... 476
11.8 VM E8814 / E8814 Undervoltage in mains......................................................................................... 477
11.9 VM E8815 / E8815 Overvoltage in mains........................................................................................... 477
11.10 VM E8818 / E8818 Phase failure........................................................................................................ 477
11.11 VM F2802 / F2802 PLL is not synchronized....................................................................................... 478
11.12 VM F2814 / F2814 Undervoltage in mains......................................................................................... 478
11.13 VM F2815 / F2815 Overvoltage in mains........................................................................................... 478
11.14 VM F2817 / F2817 Overvoltage in power section............................................................................... 479
11.15 VM F2818 / F2818 Phase failure........................................................................................................ 479
11.16 VM F2833 / F2833 Ground fault in motor line..................................................................................... 480
11.17 VM F2834 / F2834 Contactor control error......................................................................................... 480
11.18 VM F2835 / F2835 Mains contactor wiring error................................................................................. 480
11.19 VM F2837 / F2837 Contactor monitoring error................................................................................... 480
11.20 VM F2840 / F2840 Error supply shutdown......................................................................................... 481
11.21 VM F2860 / F2860 Overcurrent in mains-side power section............................................................. 482
11.22 VM F2890 / F2890 Invalid device code.............................................................................................. 482
11.23 VM F2891 / F2891 Incorrect interrupt timing...................................................................................... 482
XXII/711 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
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11.24 VM F2892 / F2892 Hardware variant not supported........................................................................... 482
11.25 VM F8057 / F8057 Device overload shutdown................................................................................... 482
11.26 VM F8813 / F8813 Connection error mains choke............................................................................. 483
11.27 VM F9004 / F9004 Hardware trap...................................................................................................... 483
12 Diagnostic display, Rexroth IndraDrive Mi................................................................. 485

12.1 KSM/KMS diagnostic display.............................................................................................................. 486
12.1.1 H14 LED.......................................................................................................................................... 486
12.1.2 H25 H26 LED.................................................................................................................................. 490
12.2 KCU02 Diagnostic Display.................................................................................................................. 495
12.3 KMV diagnostic display....................................................................................................................... 497
12.3.1 LED H14.......................................................................................................................................... 497
13 Diagnostic Display, Safety Zone Module HSZ01....................................................... 501
14 Diagnostic display Optional safety technology modules "Sx".................................... 503

14.1 CSos................................................................................................................................................... 503
14.2 FSoE................................................................................................................................................... 504
14.3 PROFIsafe.......................................................................................................................................... 505
15 Diagnostic displays of additional modules for "Hxx05".............................................. 507

15.1 Mains connection module HNA05...................................................................................................... 507
16 Diagnostic display of the "HAT02" holding brake control module.............................. 509
17 Other Display Messages............................................................................................ 511
18 Handling, diagnostic and service functions................................................................ 513

18.1 Firmware replacement........................................................................................................................ 513
18.2 Firmware download............................................................................................................................ 513
18.3 Messages during firmware download................................................................................................. 513
18.4 FL: DL ................................................................................................................................................ 515
18.5 FL:ERASE ......................................................................................................................................... 516
18.6 FL: PROG .......................................................................................................................................... 516
18.7 FL: CKS ............................................................................................................................................. 516
18.8 FL:E FW ............................................................................................................................................. 516
18.9 FL:E LD .............................................................................................................................................. 516
18.10 FL:F9002 ........................................................................................................................................... 516
18.11 FL:F2100 ........................................................................................................................................... 517
18.12 FL:F CKS ........................................................................................................................................... 517
18.13 FL:F ACC ........................................................................................................................................... 517
18.14 FL:F8122 ........................................................................................................................................... 517
18.15 FL:F8120 ........................................................................................................................................... 517
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG XXIII/711
Table of Contents
Page
19 Notes for Machine Operators..................................................................................... 519

19.1 General Information............................................................................................................................ 519
19.2 Diagnosing Malfunction and Removing Errors................................................................................... 519
19.3 Contacting the Service Department ................................................................................................... 520
20 Notes for installation programmers............................................................................ 521

20.1 How to handle command errors.......................................................................................................... 521
20.2 How to handle errors.......................................................................................................................... 523
20.3 How to handle warnings..................................................................................................................... 525
21 Service and support................................................................................................... 527
22 CiA mapping.............................................................................................................. 529
Detailed diagnostics................................................................................................... 539
Index.......................................................................................................................... 679
XXIV/711 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P Bosch Rexroth AG 25/711
Introduction
1 Introduction
1.1 Trademark information
sercos is registered trademark of sercos International e.V.
EtherCAT® is registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany.
Safety over EtherCAT® is registered trademark and patented technology,

licensed by Beckhoff Automation GmbH, Germany.
EtherNet/IP™ is a trademark under license of Open DeviceNet Vendor

Association, Inc.
Ethernet POWERLINK is a real-time capable field bus based on Ethernet.

Originally designed by B&R and released in 2001, Ethernet POWERLINK
has been specified and enhanced since 2003 by the Ethernet
POWERLINK Standardization Group (EPSG) user organization. The
protocol specification is open and in the public domain.
PROFINET® (Process Field Network) is the open Industrial Ethernet

standard of Profibus & Profinet International (PI) for automation.
ProfiNet® is registered trademark of PROFIBUS Nutzerorganisation e. V.
TwinCAT® registered and licensed trademark of Beckhoff Automation

GmbH, Germany
HIPERFACE® is registered trademark of SICK-STEGMANN GmbH
EnDat® is registered trademark of Dr. Johannes Heidenhain GmbH
ACURO®link is registered trademark of Hengstler GmbH
1.2 About this documentation

Description of the diagnostic mes‐ Each diagnostic message has properties that are listed under "Attributes".
sage attributes The following is an example of the attributes of error "F8319":
Display: F8319
Diagnostic no.: F8319
Diagnostic no. as of 18VRS: 060F8319
CiA error code: F0D6
Error can be cleared: ✓
Critical SMO error: ✓
Tab. 1-1: Attributes of error "F8319"
The attributes have the following significance:
● Display
The "Display" attribute represents the control panel display.
● Diagnostic no.
26/711 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE10-EN-P
Introduction
In the firmware versions 16 and 17, the "Diagnostic no." attribute

represents the value contained in the bits 0 to 19 of S-0-0390 when the
diagnostic message occurs.
● Diagnostic no. as of 18VRS
In the firmware versions 18 and above, the "Diagnostic no. as of
18VRS" attribute represents the value contained in the bits 0 to 31 of
S-0-0390 when the diagnostic message occurs The diagnostic number
in the firmware versions 18 and above complies with sercos.
The hexadecimal value of S-0-0390 consists of the following
components:
– Bits 31 and 30 indicate who has responsibility for the specification
of the diagnostic message.
– Bits 29 through 24 indicate the sercos profile to which the
diagnostic message belongs.
– Firmware version 20 and above: Bit 20 shows the diagnostic
message status.
– Bit 20="0":
Diagnostic message is "Fxxxx" (error) type: The error cannot
be cleared, because its cause has not yet been removed
Diagnostic message is "Cxxxx" (command) type: The
command is in process
– Bit 20="1":
Diagnostic message is "Fxxxx" (error) type: The error can be
cleared
Diagnostic message is "Cxxxx" (command) type: The
command was terminated with error or completed without
error
– Bits 19 through 16 indicate the diagnostic message class, and
thus, its priority.
– Bits 15 through 0 indicate the status code of the diagnostic
message.
To maintain compatibility of S-0-0390 in the firmware version 18

with the firmware versions 16 and 17, the content of S-0-0390 can
be switched using parameter P-0-0006!
● CiA error code:

(Attribute is only listed if relevant to the diagnostic message)
A specific CANopen error code has been defined for each relevant
diagnostic number of IndraDrive.
For a table of all mapped diagnostic numbers, please refer to: CiA
mapping
● Error can be cleared:
✓: The error can be cleared by executing command "C0500 Reset class
1 diagnostics, error reset".
–: The error cannot be cleared by executing command "C0500 Reset
class 1 diagnostics, error reset".
Introduction
Switch off the control voltage and then switch it back on to clear the
error.
PM: The error can only be cleared in parameter mode (PM) by
executing command "C0500 Reset class 1 diagnostics, error reset".
● Critical SMO error:
✓: The drive does not acknowledge safety; the safe state "Safety
Default" is established.
–: The drive acknowledges safety.
Editions of this documentation
Edition Release date Notes
DOK-INDRV*-GEN1-DIAG**-RE01-EN-P 2009-06 First edition

Second edition for MPx-16; corrections and
DOK-INDRV*-GEN1-DIAG**-RE02-EN-P 2010-10
additions
DOK-INDRV*-GEN1-DIAG**-RE03-EN-P 2011-05 Applies to MPx-17, iteration 2, as well
DOK-INDRV*-GEN1-DIAG**-RE04-EN-P 2011-09 Updated edition for MPx-17
DOK-INDRV*-GEN1-DIAG**-RE05-EN-P 2013-07 Applies to MPx-18 as well
DOK-INDRV*-GEN1-DIAG**-RE06-EN-P 2014-01 Updated edition for MPx-18
DOK-INDRV*-GEN1-DIAG**-RE07-EN-P 2014-07 Applies to MPx-19 and PSB-19 as well
● Applies to MPx-20 and PSB-20 as well
● Added diagnostic messages of HMV01
DOK-INDRV*-GEN1-DIAG**-RE08-EN-P 2015-08-28 supply units
● Encoders renamed due to hydraulic
systems (not yet fully implemented)
2015-12-11 Edition for 20V06
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
2016-05-13 Edition for 20V08
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P 2016-12-15 Edition for 20V12
Tab. 1-2: Record of revisions

Means of representation in this To facilitate reading of this documentation, the table below contains the
documentation means of representation and notations of recurring terms.
What? How? For example...
Important facts to be Boldface With the saturation method, this error is generated, when...
highlighted in the body text
Parameter names, diagnostic Quotation marks In parameter "S-0-0375, List of diagnostic numbers", the last
message names, function 50 diagnostic message numbers are...
designations
Tab. 1-3: Conventions of notation

Notes and tips are highlighted in the text. A symbol tells you what kind of note
or tip is used in the text:
This box contains important information that should be taken into

consideration.
Introduction
This symbol highlights useful tips and tricks.
Signal words in accordance with ANSI Z535.6-2011 draw the reader's

attention to hazards (see "Explanation of signal words and the safety alert
symbol").
Your Feedback Your experience is important for our improvement processes of products and
documentations.
If you discover mistakes in this documentation or suggest changes, you can
send your feedback to the following e-mail address:
Dokusupport@boschrexroth.de
We need the following information to handle your feedback:
● The number indicated under "Internal File Reference".
● The page number.
1.3 Documentations
1.3.1 Drive systems, system components
Drive systems, system components
Title Kind of documentation Document typecode1) Material number

Rexroth IndraDrive … DOK-INDRV*-… R911…
…Cs Project Planning Manual HCS01******-PRxx-EN-P 322210

Drive Systems with HCS01
…Mi Project Planning Manual KCU02+KSM02-PRxx-EN-P 335703
Drive Systems with KCU02
KSM02, KMS02/03, KMV03
Drive Systems with HMV01/02 Project Planning Manual SYSTEM*****-PRxx-EN-P 309636
HMS01/02, HMD01, HCS02/03
Supply Units, Power Sections Project Planning Manual HMV-S-D+HCS-PRxx-EN-P 318790
HMV, HMS, HMD, HCS02, HCS03
ML, Drive Systems with HMU05 Project Planning Manual Hxx05******-PRxx-EN-P 344279
Drive Controllers Project Planning Manual CSH********-PRxx-EN-P 295012
Control Sections CSB01, CSH01,
CDB01
Control Sections Project Planning Manual Cxx02******-PRxx-EN-P 338962
CSE02, CSB02, CDB02, CSH02
Additional Components and Project Planning Manual ADDCOMP****-PRxx-EN-P 306140
Accessories
1) In the document typecodes, "xx" is a wild card for the current

edition of the documentation (example: PR01 is the first edition
of a Project Planning Manual)
Tab. 1-4: Documentations – Drive systems, system components
Introduction
1.3.2 Motors
Title Type of documentation Document typecode1) Material number
Rexroth IndraDyn … DOK-MOTOR*-… R911…
A Asynchronous Motors MAD / MAF Project Planning Manual MAD/MAF****-PRxx-EN-P 295781

H Synchronous Kit Spindle Motors Project Planning Manual MBS-H******-PRxx-EN-P 297895
L Synchronous Linear Motors Project Planning Manual MLF********-PRxx-EN-P 293635
L Ironless Linear Motors MCL Project Planning Manual MCL********-PRxx-EN-P 330592
S Synchronous Motors MKE Project Planning Manual MKE*GEN2***-PRxx-EN-P 297663
S Synchronous Motors MSK Project Planning Manual MSK********-PRxx-EN-P 296289
S Synchronous Motors MSM Data Sheet MSM********-DAxx-EN-P 329338
S Synchronous Motors MS2N Project Planning Manual MS2N*******-PRxx-EN-P 347583
T Synchronous Torque Motors Project Planning Manual MBT********-PRxx-EN-P 298798
1) In the document typecodes, "xx" is a placeholder for the current

edition of the documentation (e.g.: PR01 is the first edition of a
Project Planning Manual)
Tab. 1-5: Documentations – motors
1.3.3 Cables
Title Kind of documentation Document typecode1) Material number
DOK-CONNEC-… R911…
Rexroth Connection Cables Selection Data CABLE*INDRV-CAxx-EN-P 322949

IndraDrive and IndraDyn
1) In the document typecodes, "xx" is a wild card for the current

edition of the documentation (example: CA02 is the second ed‐
ition of the documentation "Selection Data")
Tab. 1-6: Documentations – Cables
1.3.4 Firmware
Rexroth IndraDrive ... DOK-INDRV*-… R911…
MPx-20 Application Manual MP*-20VRS**-APxx-EN-P 345608

Functions
MPx-20 Release Notes MP*-20VRS**-RNxx-EN-P 345606
Version Notes
Power Supply Basic PSB-20 Application Manual PSB-20VRS**-APxx-EN-P 345610
Functions
Power Supply Basic PSB-19 Application Manual PSB-19VRS**-APxx-EN-P 345602
Functions
Functions
Introduction

Rexroth IndraDrive ... DOK-INDRV*-… R911…

Version Notes
Functions
Version Notes
Functions
Version Notes
MPx-16 to MPx-20 and PSB Reference Book GEN1-PARA**-RExx-EN-P 328651
Parameters
MPx-16 to MPx-20 and PSB Reference Book GEN1-DIAG**-RExx-EN-P 326738
Diagnostic Messages
Integrated Safety Technology Application Manual SI3-**VRS**-APxx-EN-P 332634
"Safe Torque Off" (as of MPx-16)
Integrated Safety Technology Application Manual SI3*SMO-VRS-APxx-EN-P 338920
"Safe Motion" (as of MPx-18)
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB2-RExx-EN-P 332627
Libraries as of MPx-17
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB3-RExx-EN-P 338916
Libraries as of MPx-18
Rexroth IndraMotion MLD Application Manual MLD2-**VRS*-APxx-EN-P 334351
as of MPx-17
Rexroth IndraMotion MLD Application Manual MLD3-**VRS*-APxx-EN-P 338914
as of MPx-18
1) In the document typecodes, "xx" is a placeholder for the current

edition of the documentation (e.g.: RE02 is the second edition
of a Reference Book)
Tab. 1-7: Documentations – Firmware
Important directions for use
2 Important directions for use

2.1 Appropriate use
2.1.1 Introduction
Rexroth products represent state-of-the-art developments and manufacturing.
They are tested prior to delivery to ensure operating safety and reliability.
WARNING Personal injury and property damage caused

by incorrect use of the products!
The products have been designed for use in the industrial environment and
may only be used in the appropriate way. If they are not used in the
appropriate way, situations resulting in property damage and personal injury
can occur.
Rexroth as manufacturer is not liable for any damages resulting

from inappropriate use. In such cases, the guarantee and the
right to payment of damages resulting from inappropriate use are
forfeited. The user alone carries all responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for an
appropriate use of the products are satisfied:
● Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar with
their appropriate use.
● If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is
not permitted to decompile software products or alter source codes.
● Do not install damaged or faulty products or put them into operation.
● Make sure that the products have been installed in the manner
described in the relevant documentation.
2.1.2 Areas of use and application

Drive controllers made by Rexroth are designed to control electric motors and
monitor their operation.
Control and monitoring of the Drive controllers may require additional sensors
and actuators.
The drive controllers may only be used with the accessories and
parts specified in this documentation. If a component has not
been specifically named, then it may neither be mounted nor
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware as
specified in the relevant Functional Descriptions.
Drive controllers have to be programmed before commissioning to ensure

that the motor executes the specific functions of an application.
Drive controllers of the Rexroth IndraDrive series have been developed for
use in single- and multi-axis drive and control tasks.
Important directions for use
To ensure application-specific use of Drive controllers, device types of

different drive power and different interfaces are available.
Typical applications include, for example:
● Handling and mounting systems
● Packaging and food machines
● Printing and paper processing machines
● Machine tools
Drive controllers may only be operated under the assembly and installation
conditions described in this documentation, in the specified position of normal
use and under the ambient conditions as described (temperature, degree of
protection, humidity, EMC, etc.).
2.2 Inappropriate use

Using the Drive controllers outside of the operating conditions described in
this documentation and outside of the indicated technical data and
specifications is defined as "inappropriate use".
Drive controllers may not be used, if …
● they are subject to operating conditions that do not meet the specified
ambient conditions. This includes, for example, operation under water,
under extreme temperature fluctuations or extremely high maximum
temperatures.
● Furthermore, Drive controllers may not be used in applications which
have not been expressly authorized by Rexroth. Please carefully follow
the specifications outlined in the general Safety Instructions!
Components of the Rexroth IndraDrive system are products of

Category C3 (with restricted distribution) in accordance with
IEC 61800-3. This Category comprises EMC limit values for line-
based and radiated noise emission. Compliance with this
Category (limit values) requires the appropriate measures of
interference suppression to be used in the drive system (e.g.,
mains filters, shielding measures).
These components are not provided for use in a public low-
voltage mains supplying residential areas. If these components
are used in such a mains, high-frequency interference is to be
expected. This can require additional measures of interference
suppression.
Safety instructions for electric drives and controls
3 Safety instructions for electric drives and controls

3.1 Definitions of terms
Application documentation Application documentation comprises the entire documentation used to
inform the user of the product about the use and safety-relevant features for
configuring, integrating, installing, mounting, commissioning, operating,
maintaining, repairing and decommissioning the product. The following terms
are also used for this kind of documentation: Operating Instructions,
Commissioning Manual, Instruction Manual, Project Planning Manual,
Application Description, etc.
Component A component is a combination of elements with a specified function, which
are part of a piece of equipment, device or system. Components of the
electric drive and control system are, for example, supply units, drive
controllers, mains choke, mains filter, motors, cables, etc.
Control system A control system comprises several interconnected control components
placed on the market as a single functional unit.
Device A device is a finished product with a defined function, intended for users and
placed on the market as an individual piece of merchandise.
Electrical equipment Electrical equipment encompasses all devices used to generate, convert,
transmit, distribute or apply electrical energy, such as electric motors,
transformers, switching devices, cables, lines, power-consuming devices,
circuit board assemblies, plug-in units, control cabinets, etc.
Electric drive system An electric drive system comprises all components from mains supply to
motor shaft; this includes, for example, electric motor(s), motor encoder(s),
supply units and drive controllers, as well as auxiliary and additional
components, such as mains filter, mains choke and the corresponding lines
and cables.
Installation An installation consists of several devices or systems interconnected for a
defined purpose and on a defined site which, however, are not intended to be
placed on the market as a single functional unit.
Machine A machine is the entirety of interconnected parts or units at least one of
which is movable. Thus, a machine consists of the appropriate machine drive
elements, as well as control and power circuits, which have been assembled
for a specific application. A machine is, for example, intended for processing,
treatment, movement or packaging of a material. The term "machine" also
covers a combination of machines which are arranged and controlled in such
a way that they function as a unified whole.
Manufacturer The manufacturer is an individual or legal entity bearing responsibility for the
design and manufacture of a product which is placed on the market in the
individual's or legal entity's name. The manufacturer can use finished
products, finished parts or finished elements, or contract out work to
subcontractors. However, the manufacturer must always have overall control
and possess the required authority to take responsibility for the product.
Product Examples of a product: Device, component, part, system, software, firmware,
among other things.
Project Planning Manual A Project Planning Manual is part of the application documentation used to
support the sizing and planning of systems, machines or installations.
Qualified persons In terms of this application documentation, qualified persons are those
persons who are familiar with the installation, mounting, commissioning and
operation of the components of the electric drive and control system, as well
as with the hazards this implies, and who possess the qualifications their
work requires. To comply with these qualifications, it is necessary, among

other things,
● to be trained, instructed or authorized to switch electric circuits and
devices safely on and off, to ground them and to mark them.
● to be trained or instructed to maintain and use adequate safety
equipment.
● to attend a course of instruction in first aid.
User A user is a person installing, commissioning or using a product which has
been placed on the market.
3.2 General information

3.2.1 Using the Safety instructions and passing them on to others
Do not attempt to install and operate the components of the electric drive and
control system without first reading all documentation provided with the
product. Read and understand these safety instructions and all user
documentation prior to working with these components. If you do not have
the user documentation for the components, contact your responsible
Rexroth sales partner. Ask for these documents to be sent immediately to the
person or persons responsible for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other
form, these safety instructions must be delivered with the component in the
official language of the user's country.
Improper use of these components, failure to follow the safety instructions in
this document or tampering with the product, including disabling of safety
devices, could result in property damage, injury, electric shock or even death.
3.2.2 Requirements for safe use

Read the following instructions before initial commissioning of the
components of the electric drive and control system in order to eliminate the
risk of injury and/or property damage. You must follow these safety
instructions.
● Rexroth is not liable for damages resulting from failure to observe the
safety instructions.
● Read the operating, maintenance and safety instructions in your
language before commissioning. If you find that you cannot completely
understand the application documentation in the available language,
please ask your supplier to clarify.
● Proper and correct transport, storage, mounting and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
● Only qualified persons may work with components of the electric drive
and control system or within its proximity.
● Only use accessories and spare parts approved by Rexroth.
● Follow the safety regulations and requirements of the country in which
the components of the electric drive and control system are operated.
● Only use the components of the electric drive and control system in the
manner that is defined as appropriate. See chapter "Appropriate Use".
● The ambient and operating conditions given in the available application
documentation must be observed.
● Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation "Integrated Safety
Technology". If this is not the case, they are excluded. Functional safety
is a safety concept in which measures of risk reduction for personal
safety depend on electrical, electronic or programmable control
systems.
● The information given in the application documentation with regard to
the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturers must
– make sure that the delivered components are suited for their
individual application and check the information given in this
application documentation with regard to the use of the
components,
– make sure that their individual application complies with the
applicable safety regulations and standards and carry out the
required measures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are
installed complies with the national regulations, safety specifications and
standards of the application.
● Operation is only allowed if the national EMC regulations for the
application are met.
● The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application
documentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the
components are specified in the respective application documentations
and must be followed at all times.
National regulations which the user has to comply with
● European countries: In accordance with European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
3.2.3 Hazards by improper use

● High electrical voltage and high working current! Danger to life or
serious injury by electric shock!
● High electrical voltage by incorrect connection! Danger to life or injury by
electric shock!
● Dangerous movements! Danger to life, serious injury or property

damage by unintended motor movements!
● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
● Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!
3.3 Instructions with regard to specific dangers

3.3.1 Protection against contact with electrical parts and housings
This section concerns components of the electric drive and
control system with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or

serious injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have
been permanently connected to all electric components in accordance
with the connection diagram.
● Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
● Before accessing electrical parts with voltage potentials higher than
50 V, you must disconnect electric components from the mains or from
the power supply unit. Secure the electric component from
reconnection.
● With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the
electrical voltage of live parts before beginning to work to make sure
that the equipment is safe to touch.
● Install the covers and guards provided for this purpose before switching
on.
● Never touch any electrical connection points of the components while
power is turned on.
● Do not remove or plug in connectors when the component has been
powered.
● Under specific conditions, electric drive systems can be operated at

mains protected by residual-current-operated circuit-breakers sensitive
to universal current (RCDs/RCMs).
● Secure built-in devices from penetrating foreign objects and water, as
well as from direct contact, by providing an external housing, for
example a control cabinet.
High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
● Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross
section smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.
Cross section outer Minimum cross section equipment grounding conductor

conductor Leakage current ≥ 3.5 mA
1 equipment grounding 2 equipment grounding
conductor conductors
1.5 mm2 (16 AWG) 2 × 1.5 mm2 (16 AWG)
2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)
4 mm2 (12 AWG) 10 mm2 (8 AWG) 2 × 4 mm2 (12 AWG)
6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)
10 mm2 (8 AWG) -
16 mm2 (6 AWG) -
25 mm2 (4 AWG) 16 mm2 (6 AWG) -
35 mm2 (2 AWG) -
50 mm2 (1/0 AWG) 25 mm2 (4 AWG) -
70 mm2 (2/0 AWG) 35 mm2 (2 AWG) -
... ... ...
Tab. 3-1: Minimum cross section of the equipment grounding connection
3.3.2 Protective extra-low voltage as protection against electric shock

Protective extra-low voltage is used to allow connecting devices with basic
insulation to extra-low voltage circuits.
On components of an electric drive and control system provided by Rexroth,
all connections and terminals with voltages up to 50 volts are PELV
("Protective Extra-Low Voltage") systems. It is allowed to connect devices
equipped with basic insulation (such as programming devices, PCs,

notebooks, display units) to these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by

incorrect connection!
If extra-low voltage circuits of devices containing voltages and circuits of
more than 50 volts (e.g., the mains connection) are connected to Rexroth
products, the connected extra-low voltage circuits must comply with the
requirements for PELV ("Protective Extra-Low Voltage").
3.3.3 Protection against dangerous movements

Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
● Improper or wrong wiring or cable connection
● Operator errors
● Wrong input of parameters before commissioning
● Malfunction of sensors and encoders
● Defective components
● Software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
The monitoring functions in the components of the electric drive and control
system will normally be sufficient to avoid malfunction in the connected
drives. Regarding personal safety, especially the danger of injury and/or
property damage, this alone cannot be relied upon to ensure complete safety.
Until the integrated monitoring functions become effective, it must be
assumed in any case that faulty drive movements will occur. The extent of
faulty drive movements depends upon the type of control and the state of
operation.
Dangerous movements! Danger to life, risk of injury, serious injury or property

damage!
A risk assessment must be prepared for the installation or machine, with its
specific conditions, in which the components of the electric drive and control
system are installed.
As a result of the risk assessment, the user must provide for monitoring
functions and higher-level measures on the installation side for personal
safety. The safety regulations applicable to the installation or machine must
be taken into consideration. Unintended machine movements or other
malfunctions are possible if safety devices are disabled, bypassed or not
activated.
To avoid accidents, injury and/or property damage:
● Keep free and clear of the machine’s range of motion and moving
machine parts. Prevent personnel from accidentally entering the
machine’s range of motion by using, for example:
– Safety fences
– Safety guards
– Protective coverings
– Light barriers
● Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
● Mount emergency stopping switches in the immediate reach of the
operator. Before commissioning, verify that the emergency stopping
equipment works. Do not operate the machine if the emergency
stopping switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by
means of OFF switches/OFF buttons or use a safe starting lockout.
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after
switching off the motor power by, for example,
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient counterbalancing of the vertical axes.
● The standard equipment motor holding brake or an external holding
brake controlled by the drive controller is not sufficient to guarantee
personal safety!
● Disconnect electrical power to the components of the electric drive and
control system using the master switch and secure them from
reconnection ("lock out") for:
– Maintenance and repair work
– Cleaning of equipment
– Long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio
equipment near components of the electric drive and control system and
their supply leads. If the use of these devices cannot be avoided, check
the machine or installation, at initial commissioning of the electric drive
and control system, for possible malfunctions when operating such high-
frequency, remote control and radio equipment in its possible positions
of normal use. It might possibly be necessary to perform a special
electromagnetic compatibility (EMC) test.
3.3.4 Protection against electromagnetic and magnetic fields during opera‐

tion and mounting
Electromagnetic and magnetic fields!
Health hazard for persons with active implantable medical devices (AIMD)
such as pacemakers or passive metallic implants.
● Hazards for the above-mentioned groups of persons by electromagnetic
and magnetic fields in the immediate vicinity of drive controllers and the
associated current-carrying conductors.
● Entering these areas can pose an increased risk to the above-
mentioned groups of persons. They should seek advice from their
physician.
● If overcome by possible effects on above-mentioned persons during
operation of drive controllers and accessories, remove the exposed
persons from the vicinity of conductors and devices.
3.3.5 Protection against contact with hot parts

Hot surfaces of components of the electric drive and control system. Risk of
burns!
● Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated
cores!
● According to the operating conditions, temperatures of the surfaces can
be higher than 60 °C (140 °F) during or after operation.
● Before touching motors after having switched them off, let them cool
down for a sufficient period of time. Cooling down can require up to 140
minutes! The time required for cooling down is approximately five times
the thermal time constant specified in the technical data.
● After switching chokes, supply units and drive controllers off, wait 15
minutes to allow them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications, and in accordance with the respective safety
regulations, the manufacturer of the machine or installation must take
measures to avoid injuries caused by burns in the final application.
These measures can be, for example: Warnings at the machine or
installation, guards (shieldings or barriers) or safety instructions in the
application documentation.
3.3.6 Protection during handling and mounting

Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Observe the relevant statutory regulations of accident prevention.
● Use suitable equipment for mounting and transport.
● Avoid jamming and crushing by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● Use suitable protective equipment (hard hat, safety goggles, safety
shoes, safety gloves, for example).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!
3.3.7 Battery safety

Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!
● Do not attempt to reactivate low batteries by heating or other methods
(risk of explosion and cauterization).
● Do not attempt to recharge the batteries as this may cause leakage or
explosion.
● Do not throw batteries into open flames.
● Do not dismantle batteries.
● When replacing the battery/batteries, do not damage the electrical parts

installed in the devices.
● Only use the battery types specified for the product.
Environmental protection and disposal! The batteries contained in

the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal
regulations. Dispose of used batteries separately from other
waste. Observe the national regulations of your country.
3.3.8 Protection against pressurized systems

According to the information given in the Project Planning Manuals, motors
and components cooled with liquids and compressed air can be partially
supplied with externally fed, pressurized media, such as compressed air,
hydraulics oil, cooling liquids and cooling lubricants. Improper handling of the
connected supply systems, supply lines or connections can cause injuries or
property damage.
Risk of injury by improper handling of pressurized lines!
● Do not attempt to disconnect, open or cut pressurized lines (risk of
explosion).
● Observe the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!
Environmental protection and disposal! The agents (e.g., fluids)

used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from
other waste. Observe the national regulations of your country.
3.4 Explanation of signal words and the Safety alert symbol

The Safety Instructions in the available application documentation contain
specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with ANSI
Z535.6-2011).
The signal word is meant to draw the reader's attention to the safety
instruction and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which
precedes the signal words DANGER, WARNING and CAUTION, is used to
alert the reader to personal injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate
injury could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
Basics on device diagnostics
4 Basics on device diagnostics

4.1 Diagnostic system
4.1.1 Detailed Diagnostics
To find out which event/which detailed diagnostics triggered the drive error,
please access the dialog "Error/Diagnostic Memory" in IndraWorks as
follows:
1. In the function tree, select the drive for which an error was diagnosed.
2. Open the context menu of the axis: Diagnostics ▶ Error/Diagnostic
Memory.
The "Error/Diagnostic Memory" dialog is opened.
3. Filter according to "Detailed diagnostics".
4.1.2 Coded diagnostic messages of the drive

See Functional Description "Coded diagnostic messages of the drive"
4.1.3 Status classes, status displays, control parameters

See Functional Description "Status classes, status displays, control
parameters"
4.2 Control panel

See Functional Description "Control panel"
4.3 Terms, basic principles

See Functional Description "Terms, basic principles"
Operating states
5 Operating states
5.1 Operating states of the drive controllers
The possible operating states are listed below in alphabetical order. The
operating states are displayed on the control panel of the device:
Ab "Drive ready"
See also: A0012 Control and power sections ready for operation
AC See also: A4000 Automatic drive check and adjustment
AE See also:
● A4001 Drive deceleration to standstill
● A4005 Drive decelerated by motor phase short circuit
● A4006 Drive decelerated in a controlled way
AF "Drive enable"
Depending on the operation mode used, a detailed description of the "AF"
display can be found under the respective diagnostic status message.
AH "Drive Halt"
See also: A0010 Drive HALT
AR "Automatic drive reaction"
Depending on the drive function used, the drive carries out an individual drive
reaction.
See also Functional Description of firmware "Quick stop via probe input".
AU See also: A4002 Drive in automatic mode
bb "Ready for operation"
See also: A0013 Ready for power on
BEM "Basic Ethernet Mode"
See also: A0025 Basic Ethernet Mode
CFG See also: A0023 WAIT_CFG
CON See also: A0024 Connection established
CM See also: A4003 Setting-up mode is active
DCC See also: A4010 Drive control command active
FoE "FoE" is the abbreviation for "File Access over EtherCAT"
See also: A0029 Bootstrap
HP0 See also: A0030 Hot-plug phase 0
INI See also: A0004 Initialization
OM See also: A0051 Operating mode
OP See also: A0007 Operational
Operating states
P0 "Phase 0" (only with sercos master communication)

See also: A0000 Communication phase 0
P-1 "Phase -1"
See also: A0009 Automatic baud rate detection for sercos
P1 "Phase 1"
P2 "Phase 2"
P3 "Phase 3"
P4 See also: A0040 Communication phase 4
PA See also: C1600 Parking axis procedure command
PM See also: A0050 Parameterization level 1 active
PL "Parameter load with basic values"
See also: F2009 PL Load parameter default values
PO See also: A0005 Pre-Operational
PRM See also: A0022 Wait_PRM
RL See also: F2008 RL The motor type has changed.
RTO See also: A0026 Ready To Operate
SAFE See also: A0300 SMO condition as supplied: Output stage locked
SCM See also: A0323 SMO configuration mode active
SMM "SMM" stands for "Special mode safe motion".
Sixteen safe motions are available; "SMM1", "SMM2", ... , "SMM16" is
accordingly shown on the display.
See also:
● "A0301 Special mode safe motion 1 active"
● ...
SMES See also: A0320 EMERGENCY STOP active
SMST1 See also: A0321 Special mode Safe standstill active with STO
SMST2 See also: A0322 Special mode Safe standstill active with SOS
SOP See also: A0006 Safe-Operational
STO See also: A0011 STO/SBC active
5.2 Operating states of the supply unit Hxx05

The possible operating states of the supply unit Hxx05 are listed below in
alphabetical order. They are displayed on the control panel of the device or in
Operating states
the commissioning software. Alternatively, the operating states can be read

from the parameter "S-0-1720.0.2, Status word".
bb "Ready for operation"
See also: A0504 Control section ready for oper., mains voltage not available
Bb See also: A0505 Power supply module ready for operation
charg See also: A0503 DC bus charging active
Lb See also: A0502 Supply module in operation
LB See also: A0500 Supply module in voltage control
See also: A0506 Supply module in rectifier mode
I LB See also: A0501 Supply module in current control
ZKS See also: A0520 DC bus quick discharge active
Diagnostic Messages when Booting the Devices
6 Diagnostic Messages when Booting the Devices

6.1 Devices with Valid Firmware
When a valid firmware is available in the control section, the following booting
messages are displayed on the drive controller display after the control
voltage has been switched on:
BOOT 1.0
BOOT 1.1
...
BOOT 3.0
BOOT 3.1
After the device has successfully gone through the initialization phase, the
diagnostic number of the current operating status is displayed.
If the display keeps showing a booting message for more than 5

minutes, please contact our service department.
6.2 Devices without Valid Firmware

In case the device does not detect any valid firmware in the programming
module, the so-called "loader" is started. The "loader" is an auxiliary program
used to load firmware to the programming module. When the "loader" is
activated, the controller goes through several initialization phases:
LOAD 1
LOAD 2
LOAD 3
LOAD 4
The LOADER display signals that the auxiliary program for loading
("download") firmware is ready for operation.
In this status, the drive controller is not ready for normal operation; it is first
necessary to load valid firmware.
The firmware can be replaced with Indra Works (menu item

Tools ▶ Drive ▶ Firmware Management) or via a standard TFTP
client.
6.3 IndraMotion MLD Booting Messages

When the two keys ESC and ENTER are pressed and held simultaneously
on the control panel before the display of the control panel shows "Boot 2.9"
and the "Motion Logic" functional package (drive PLC and technology
functions), then "PLC ?" will be displayed. Any automatic start of a PLC boot
project was prevented.
By pressing the arrow down and/or up keys, the display switches between
"Run PLC" and "Stop PLC".
Stop PLC If the user opened the "Stop PLC" display by pressing the arrow down and/or
arrow up keys and subsequently presses the ENTER key on the control
panel, starting of a PLC boot project is prevented.
Diagnostic Messages when Booting the Devices
Run PLC If the user opened the "Run PLC" display by pressing the arrow down and/or
arrow up keys and subsequently presses the ENTER key on the control
panel, the drive PLC and the boot project, if any is available, are started after
the booting process has been completed.
6.4 "Safe Motion" Booting Messages

If the safety technology detects a parameter image that has a proposed axis
identifier (P-0-3235.0.2) that corresponds with the active axis identifier
(P-0-3235.0.1), but its image identifier does not correspond with the image
identifier saved in the optional safety technology module, the error message
"F8330 SMO: Configuration data record has not been activated" is
generated.
For a single axis device, the error message is not output; instead, the
message "Load new Safety?" is output as body text on the control panel with
programming module functionality. For a double axis device, the message ".1
Load new Safety?" is displayed for axis 1 or ".2 Load new Safety?" for axis 2.
Press <ENTER> key to confirm the message "Load new Safety?" and
execute the command "C8300 SMO: Command Activate parameter image".
However, if the <ESC> key is pressed, the command is not executed and the
error message "F8330 SMO: Configuration data record has not been
activated" is displayed.
Diagnostic status messages
7 Diagnostic status messages

7.1 A0000 Communication phase 0
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
The communication phase between master and slaves via sercos is

organized into four communication phases:
Communication phases 0 and 1 are used to detect the bus nodes. In
communication phase 2, the time and data setup of the protocols for
communication phases 3 and 4 are prepared.
The phase run-up takes place in ascending order. The communication phase
is specified by the master. The switch into communication phase 4 completes
the initialization and allows power to be connected.
If the phase progression is interrupted, the state display remains in the
previous communication phase, which allows the interruption to be detected.
If the diagnostic message "A0000 Communication phase 0" is active, the
drive is in phase 0 and is waiting for the master to switch from communication
phase 0 to 1.
A0000 - Attributes Display: P0
Diagnostic no.: A0000
Diagnostic no. as of 18VRS: C30A0000


If the diagnostic message "A0001 Communication phase 1" is active, the
drive is in phase 1; the master has not yet triggered the switch from phase 1
to 2.

Communication phase 2 means that the drive is in the parameterization

mode. In this mode, many parameters can be written that cannot be written
any more in communication phase 4 (operating mode).
In communication phase 2
● the communication parameters are usually transmitted from the master
to the drive (in the case of field bus and sercos devices) and
● the functions "load drive parameters" and "save drive parameters" ("file
service") are carried out, if required.
In order to get to communication phase 2, the master, in the case of drives
with field bus and sercos interfaces, sets "communication phase 2" via the
master communication interface. Another possibility to switch to
communication phase 2 is to execute the command "P-0-4023, C0400
Communication phase 2 transition".
Communication phase 3 Before it is possible to switch to communication phase 3, it is necessary to
execute the command "S-0-0127, C0100 Communication phase 3 transition
check". Among other things the drive, during the transition check, checks the
parameters required for communication phase 3 for validity.
After successful execution of the transition check command, the master
switches the drive to communication phase 3 (in the case of field bus and
sercos devices) or the drive automatically switches to phase 3 at the end of
the transition check command.

Communication phase 3 means that the drive is in the restricted

parameterization mode. In this mode, just as in parameterization mode
(phase 2), many parameters can still be written that cannot be written any
more in communication phase 4 (operation mode). In phase 3,
communications parameters cannot be written.
In order to get to communication phase 3, the master, in the case of drives
with field bus and sercos interfaces, sets "communication phase 3" via the
master communication interface. Another possibility to switch to
communication phase 3 is to execute the command "S-0-0127, C0100
Communication phase 3 transition check".
Communication phase 4 Before it is possible to switch to communication phase 4, it is necessary to
execute the command "S-0-0128, C0200 Communication phase 4 transition
check". Among other things the drive, during the transition check, checks the
parameters required for communication phase 4 for validity.
After successful execution of the transition check command, the master
switches the drive to communication phase 4 (in the case of field bus and
sercos devices) or the drive automatically switches to phase 4 at the end of

the transition check command.
7.5 A0004 Initialization

Allocation Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Initializing the field bus.
Field bus Meaning of the diagnostic message
PROFIBUS "PROFIBUS" has been recognized as master communication and the hardware is checked.
CANopen Initialization was run after switch-on or after a reset.
PROFINET The controller has not yet established a connection.
EtherNet/IP The scanner has not yet established a connection.
EtherCAT Initialization was run after switch-on or after a reset.
Ethernet POWERLINK The network functionalities are initialized.
Tab. 7-1: Overview of diagnostic message "Initialization" for the various field
buses
See also Functional Description of firmware "Device control and state
machines"
A0004 - Attributes Display: INI
Diagnostic no. as of 18VRS: 000A0004
7.6 A0005 Pre-Operational

The drive is in the "Pre-Operational" communication phase.

CANopen After the initialization the bus coupler automatically, i.e. without external command,
changes over to the communication phase "Pre-Operational". It can be configured in
this communication phase, for the service data objects (SDOs) are already active,
whereas the process data objects (PDOs) are still disabled.
CAN application layer over After the initialization the drive automatically, i.e. without external command, changes
EtherCAT over to the communication phase "Pre-Operational". It can be configured in this
Servodrive profile over EtherCAT communication phase, for the service data objects (SDOs) are already active,
Ethernet POWERLINK After the initialization and the first receipt of an SoC or SoA telegram from the MN
(as of firmware version 20) (managing node), the CN (controlled node) automatically switches to communication
phase "Pre-Operational 1" or "Pre-Operational 2". Both states are indicated by
diagnostic message "Pre-Operational". In this communication phase the CN can be
configured from the MN, for the service data objects (SDOs) are already active,
Tab. 7-2: Overview of diagnostic message "Pre-Operational" for the various

field buses
See also functional description of firmware "Device control and state
machines"
A0005 - Attributes Display: PO
7.7 A0006 Safe-Operational

The field bus is in communication phase "Safe-Operational".
CAN Application Layer over The producer data are generated by the drive and sent to the control. The consumer
EtherCAT data are not assumed yet.
Servodrive profiles over EtherCAT
Tab. 7-3: Diagnostic message "Safe-Operational"

See also Functional Description of firmware "Device control and state
machines"
A0006 - Attributes Display: SOP
7.8 A0007 Operational

Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
The field bus is in the "Operational" communication phase.

See also functional description of firmware
● "Ethernet POWERLINK"
● "CANopen interface"
A0007 - Attributes Display: OP
7.9 A0008 sercos: NRT-Mode

The drive controller is in the NRT mode.

The drive controller automatically goes to the NRT mode:
● After the drive controller has been switched on.
● When the communication phase has been incorrectly input.
The NRT mode can only be exited via the communication phase 0.
Explanation In the communication state machine of sercos, we distinguish between two
communication phase types:
● Communication phases with IP telegrams without sercos telegrams
(NRT mode)
● Communication phases with IP telegrams and sercos telegrams
(communication phases 0 to 4)
See also Functional Description of firmware "sercos"
A0008 - Attributes Display: NRT
7.10 A0009 Automatic baud rate detection for sercos


If the diagnostic message A0009 is active, the drive is in phase 0 - 1, the
switch to phase 0 takes place when the correct baud rate has been detected.
A0009 - Attributes Display: P -1
7.11 A0010 Drive HALT

Function "Drive Halt" is indirectly activated by the master via the master
communication interface by deleting the Drive Halt bit in parameter
"S-0-0134, Master control word" or by interrupting a drive control command

(e.g., drive-controlled homing procedure).
The "Drive Halt" function is used to shut down an axis with defined
acceleration and defined jerk.
Function "Drive Halt" can be executed as quick stop in position control or
velocity control mode or as operational stop in the active operation mode with
velocity command value reset [see configuration "Drive Halt" (P-0-0558)].
In speed control and torque control mode, the drive is shut down by velocity
command value reset with maximum torque.
See also Functional Description of firmware "Drive Halt"
A0010 - Attributes Display: AH
7.12 A0011 STO/SBC active

The drive is in special mode "safe standstill". Safety functions "Safe torque
off" (STO) / "Safe brake control" (SBC) are active.
Safety function "Safe brake control " (SBC) is not available for all
optional safety technology modules.
The operating status of the safety function is additionally displayed in

P-0-0106.
A0011 - Attributes Display: STO
7.13 A0012 Control and power sections ready for operation

For HMS, HMD, HCS The diagnostic message "A0012 Control and power sections ready for
operation" signals that the drive has been supplied with control voltage and
power has been switched on. The drive is ready for power output.
For HMV The diagnostic message "A0012 Control and power sections ready for
operation" signals that the supply unit is ready to switch on the mains
contactor.
Mains contactor cannot be switched on in spite of "VM bb" !

In spite of the display "VM Bb" or "VM bb", it can sometimes be
impossible to switch the mains contactor on.
Possible cause:
This can be caused by a defective external mains contactor with,
for example, contacts stuck together. The error message "F2837
Contactor monitoring error" cannot be diagnosed in such cases.
With contacts of the main circuit stuck together, the N/C contact
(X40.1/2) remains open in the position of rest and the switch-on
circuit is thereby interrupted.
Remedy:
Check and, if necessary, replace the external mains contactor.
A0012 - Attributes Display: Ab
7.14 A0013 Ready for power on

The diagnostic message "A0013 Ready for power on" signals that the drive
or supply unit has been provided with control voltage and that there isn't any
error present in the drive/supply unit.
The drive or the supply unit is ready for power on.
Mains contactor cannot be switched on in spite of "VM bb" !

In spite of the display "VM Bb" or "VM bb", it can sometimes be
impossible to switch the mains contactor on.
Possible cause:
This can be caused by a defective external mains contactor with,
for example, contacts stuck together. The error message "F2837
Contactor monitoring error" cannot be diagnosed in such cases.
With contacts of the main circuit stuck together, the N/C contact
(X40.1/2) remains open in the position of rest and the switch-on
circuit is thereby interrupted.
Remedy:
Check and, if necessary, replace the external mains contactor.
A0013 - Attributes Display: bb

7.15 A0022 WAIT_PRM

The field bus is in communication phase "Wait_PRM".

Field Bus Meaning of the Diagnostic Message
PROFIBUS The baud rate has been found, the drive is waiting for a parameterization telegram of
the master that contains its IDN [contained in the device data sheet].
Tab. 7-4: Diagnostic message "Wait_PRM"

See also Functional Description of firmware "Device Control and State
Machines".
A0022 - Attributes Display: PRM
7.16 A0023 WAIT_CFG

The field bus is in communication phase "Wait_CFG".
PROFIBUS The drive controller has received a valid parameterization telegram and is now waiting for the
configuration telegram. In the configuration telegram, the master informs the drive which module it
expected for the input/output configuration.
Tab. 7-5: Diagnostic message "Wait_CFG"

Machines".
A0023 - Attributes Display: CFG
7.17 A0024 Connection established

The field bus is in communication phase "Connection established" (CON).
PROFINET The connection to the controller has been established.

EtherNet/IP The connection to the controller has been established.
Tab. 7-6: Overview of the Diagnostic Message "Connection established"

(CON) for the Various Field Busses
Machines".
A0024 - Attributes Display: CON
7.18 A0025 Basic ethernet mode

Allocation Contained in 20VRS: «MPB» «-» «-» «MPC» «PSB»
The bus system is in the communication state "Basic Ethernet Mode". The
drive can be operated directly in existing Ethernet networks, if real-time data
transmission is not required. The communication state is activated directly

after the drive was switched on until bus communication is started.
See also functional description of firmware "Ethernet POWERLINK"
A0025 - Attributes Display: BEM
7.19 A0026 Ready to operate

The bus system is in the communication state "Ready To Operate". The drive
provides cyclic actual values; cyclic command values are not yet processed.
See also functional description of firmware "Ethernet POWERLINK"
A0026 - Attributes Display: RTO
7.20 A0029 Bootstrap

The device is in communication mode "Bootstrap".

In this communication mode, the transmission of the cyclic process data as
well as all mailbox services are not available. The FoE service for updating
the firmware is available.
This state can only be reached via the Init state and can only proceed to the
Init.
See also Functional Description of firmware "EtherCAT"
A0029 - Attributes Display: FoE
7.21 A0030 Hot-plug phase 0

The drive is in hot plug phase 0.

In hot plug phase 0 the master has only a unidirectional communication
channel to the slave. This channel is used for transmitting interface
parameters that are necessary for communication.
During this phase the slave is not able to send data to the master.
As soon as the hot plug slave receives all the required parameters to be able
to be hooked into the topology, it returns the sercos telegrams that it
received. This is recognized by the last slave in the line and hence by the
master and the transition to hot plug phase 1 can take place.
A0030 - Attributes Display: HP0


In hot plug phase 1 there is a bidirectional communication connection
between master and slave.
In this phase all hot plug slaves are scanned. Then, the parameters for
accessing the service channel are transmitted to the slaves.
As soon as the transmission of parameters has been successfully completed,
the transition to hot plug phase 2 can take place.


In hot plug phase 2 the service channel is available for further
parameterization.
The configuration of the port and the further configuration of the slaves take
place in this phase.
When hot plug phase 2 is completed, switching to further communication
phases is initiated.

The device is in communication phase 4.

In communication phase 4 the initialization process is completed and the
sercos network is ready to operate. Process data can now be exchanged via
configured connections.
7.25 A0050 Parameterization level 1 active

The drive is in the "Parameterization level 1" mode. In this status, the
monitoring functions of the position encoders and the motor temperature
sensor are deactivated. Although the master communication is in
communication phase 4, the drive can be parameterized as in communication
phase 3.
This status is displayed on the control panel of the drive with

"PM".
See also Functional Description of firmware "Parking Axis"

See also Parameter Description "S-0-0420, C0400 Activate parameterization
level 1 procedure command"
A0050 - Attributes Display: PM
7.26 A0051 Operating mode

The axis was switched to the operating mode, but master communication is
not yet in the cyclic data exchange. In this state axis control is not yet
possible.
A0051 - Attributes Display: OM
7.27 A0052 STO/SBC not active

Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
The drive is no longer in the special mode "Safe standstill".
The operating status of the safety function is additionally

displayed in P-0-0106.
A0052 - Attributes Display: 1

7.28 A0100 Torque control

Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
The drive is in the "Torque control"" mode. It follows the torque command
value characteristic set by the master.
See also Functional Description of firmware "Torque/Force Control"
A0100 - Attributes Display: AF
7.29 A0101 Velocity control

The drive is in the "Velocity control" mode. It follows the speed command
value characteristic set by the master. The speed control loop is closed in the
drive.
See also Functional Description of firmware "Velocity Control"
7.30 A0102 Position mode, encoder 1

The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position
command value characteristic, the drive follows the command value with a
lag error.
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Position Control with Cyclic
Command Value Input"
7.31 A0103 Position mode, encoder 2

Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
command value characteristic, the drive follows the command value with a
lag error.
Assignment optional encoder->optional slot" is used as a control encoder.
7.32 A0104 Position mode lagless, encoder 1

command value characteristic, the drive follows the command value laglessly
(prerequisite: "P-0-0040, Velocity feedforward evaluation"=100%).
7.33 A0105 Position mode lagless, encoder 2

command value characteristic, the drive follows the command value laglessly
(prerequisite: "P-0-0040, Velocity feedforward evaluation"=100%).
7.34 A0106 Drive-internal interpolation, encoder 1

From the control unit the drive receives a position command value identical to
the target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
With a lag error the drive moves to the target position.
See also Functional Description of firmware "Drive Internal Interpolation"
7.35 A0107 Drive-internal interpolation, encoder 2

From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates
With a lag error the drive moves to the target position.

7.36 A0108 Drive controlled interpolation, lagless, encoder 1

The drive laglessly moves to the target position (prerequisite: "P-0-0040,
Velocity feedforward evaluation"=100%).
7.37 A0109 Drive controlled interpolation, lagless, encoder 2

7.38 A0110 Velocity synchronization, virtual master axis

The drive is in velocity control. Taking the gear ratio and the master axis
position into account, the command velocity is determined in the drive.
"Virtual master axis" means that the master axis position is calculated by the
control unit.
See also Functional Description of firmware "Velocity Synchronization with
Real/Virtual Master Axis"

7.39 A0111 Velocity synchronization, real master axis

The drive is in velocity control. The velocitiy command value is derived from
the master axis position. The master axis position is generated by the
measuring encoder.
See also Functional Description of firmware "Velocity Synchronization with
7.40 A0112 Phase synchronization, encoder 1, virtual master axis

of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Phase Synchronization with
7.41 A0113 Phase synchronization, encoder 2, virtual master axis

"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). "Virtual master axis" means that the
7.42 A0114 Phase synchronization, encoder 1, real master axis

(indirect measuring of the axis position). "Real master axis" means that the
master axis position is derived from the incremental encoder signals.
7.43 A0115 Phase synchronization, encoder 2, real master axis

(direct measuring of the axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
7.44 A0116 Phase synchr. lagless, encoder 1, virtual master axis

The drive follows the command value without any lag error.
(indirect measuring of the axis position). "Virtual master axis" means that the
7.45 A0117 Phase synchr. lagless, encoder 2, virtual master axis

(direct measuring of the axis position). "Virtual master axis" means that the

7.46 A0118 Phase synchr. lagless, encoder 1, real master axis

The drive is in lagless position control. The position command value is

calculated by the master axis position. The master axis position is derived
from the measuring encoder.
7.47 A0119 Phase synchr. lagless, encoder 2, real master axis

The drive is in lagless position control. The position command value is

calculated by the master axis position. The master axis position is derived
from the measuring encoder.
7.48 A0128 Cam, encoder 1, virtual master axis

The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
(indirect measurement of axis position). "Virtual master axis" means that the
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
7.49 A0129 Cam, encoder 2, virtual master axis


(direct measurement of axis position). "Virtual master axis" means that the
7.50 A0130 Cam, encoder 1, real master axis

(indirect measurement of axis position). "Real master axis" means that the
7.51 A0131 Cam, encoder 2, real master axis

(direct measurement of axis position). "Real master axis" means that the
7.52 A0132 Cam, lagless, encoder 1, virt. master axis

7.53 A0133 Cam, lagless, encoder 2, virt. master axis

7.54 A0134 Cam, lagless, encoder 1, real master axis

7.55 A0135 Cam, lagless, encoder 2, real master axis

7.56 A0136 MotionProfile, encoder 1, virtual master axis

The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
7.57 A0137 MotionProfile, encoder 2, virtual master axis

Master Axis"
7.58 A0138 MotionProfile, encoder 2, real master axis

Master Axis"
7.59 A0139 MotionProfile, encoder 1, real master axis

Master Axis"
7.60 A0140 MotionProfile lagless, encoder 1, virtual master axis

Master Axis"
7.61 A0141 MotionProfile lagless, encoder 2, virtual master axis

Master Axis"
7.62 A0142 MotionProfile lagless, encoder 1, real master axis

Master Axis"
7.63 A0143 MotionProfile lagless, encoder 2, real master axis

Master Axis"
7.64 A0150 Drive-controlled positioning, encoder 1

From the master the drive receives a position command value in the
"S-0-0282, Positioning command value" parameter. This position/distance,
when the status of bit 0 of parameter "S-0-0346, Positioning command
strobe"" changes, is copied to "S-0-0258, Target position" or, in the case of a
relative input, added to the value in "S-0-0430, Effective target position". The
drive then generates (interpolates) an internal position command value
characteristic in order to get from the current position to this target position.
This is done considering the limit values for velocity, acceleration and jerk in
the following parameters:
● "S-0-0193, Positioning Jerk",
● "S-0-0259, Positioning Velocity",
● "S-0-0260, Positioning Acceleration" and
● "S-0-0359, Positioning Deceleration".
With a lag error proportional to the velocity the drive moves to the target
position.
See also Functional Description of firmware "Drive Controlled Positioning"
7.65 A0151 Drive-controlled positioning, encoder 1, lagless

"S-0-0282, Positioning command value" parameter. This distance, when the
status of bit 0 of parameter "S-0-0346, Positioning command strobe"
changes, is copied to "S-0-0430, Effective target position" or, in the case of a
● "S-0-0260, Positioning Acceleration",
● "S-0-0359, Positioning Deceleration" and
● "S-0-0193, Positioning Jerk".
7.66 A0152 Drive-controlled positioning, encoder 2


With a lag error proportional to the velocity the drive moves to the target
position.
7.67 A0153 Drive-controlled positioning, encoder 2, lagless

7.68 A0154 Position mode drive controlled, encoder 1

The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled in drive-controlled form with a lag error.
"Encoder 1" means that the encoder assigned via "P-0-0077, Assignment
motor encoder->optional slot" is used as control encoder.
See also Functional Description of firmware "Position Control With Cyclic
7.69 A0155 Position mode drive controlled, encoder 2

traveled in drive-controlled form with a lag error.
optional encoder->optional slot" is used as control encoder.
7.70 A0156 Position mode lagless, encoder 1 drive controlled

traveled in drive-controlled form without lag error.
motor encoder->optional slot" is used as control encoder.

7.71 A0157 Position mode lagless, encoder 2 drive controlled

traveled in drive-controlled form without lag error.
optional encoder->optional slot" is used as control encoder.
7.72 A0160 Pos. ctrl drive-controlled with ctrl word of axis control‐
ler
In MPx16, the name of this diagnostic message was "A0160

Position mode drive controlled".
traveled under drive control.
Based on the axis control word (S-0-0520), the drive uses encoder 1 or
encoder 2 to control for the target position to be approached, either lagless or
with lag error (requirement: "P-0-0040, Velocity feedforward evaluation" =
100%).
Control with encoder 2 is only possible if encoder 2 is available.


7.73 A0161 Drive-controlled posit. with ctrl word of axis controller

In MPx16, the name of this diagnostic message was "A0161

Drive-controlled positioning".
The drive receives a position command value from the master in parameter
"S-0-0282, Positioning command value". If bit 0 of parameter "S-0-0346,
Positioning command value acceptance" changes its state, this distance is
copied to the value in "S-0-0430, Effective target position" or added in case in
relative specification. The drive now generates an internal position command
value characteristic (interpolated) in order to reach this target position from
the current position. This is achieved with the values parameterized for
velocity, acceleration and jerk taken into consideration in the following
parameters:
● "S-0-0259, Positioning velocity",
● "S-0-0260, Positioning acceleration",
● "S-0-0359, Positioning deceleration", and
● "S-0-0193, Positioning jerk".
Based on the axis control word, the drive uses encoder 1 or encoder 2 to
control for the target position to be approached, either lagless or with lag
error (requirement: "P-0-0040, Velocity feedforward evaluation" = 100%).
See also Functional Description of firmware "Drive-Controlled Positioning"

7.74 A0162 Positioning block mode

The command value profile is generated in the drive. Target position,

velocity, acceleration and jerk are determined by a programmed positioning
block. According to the parameterization of "P-0-4019, Positioning block
mode", the target position is understood as an absolute or relative distance.
According to the axis controller control word, the drive controls with
encoder 1 or encoder 2, laglessly or with lag error, with regard to the target
position to be approached (prerequisite: "P-0-0040, Velocity feedforward
evaluation"=100%).
Control with encoder 2 can only take place if encoder 2 is

available.
See also Functional Description of firmware "Positioning Block Mode"

7.75 A0163 Position synchronization

The drive is in the "Position synchronization" mode. This means that the drive
is in position control and the position command values are derived from
master axis positions.
See also Functional Description of firmware "Synchronization Modes"
7.76 A0164 Velocity synchronization

The drive is in the "Velocity synchronization" mode. This means that the drive
is in velocity control and the velocity command values are derived from
master axis positions.
See also Functional Description of firmware "Synchronization Modes"
7.77 A0165 Position control with control word of axis controller

100%).

7.78 A0166 Drive-internal interpolat. with ctrl word of axis control‐

ler
The drive receives from the master a position command value which is
identical with the target position of the travel path. The drive now generates
an internal position command value characteristic (interpolated) which keeps
to maximum values which have been defined by master for the jerk,
acceleration and velocity characteristics.
100%).
See also Functional Description of firmware "Drive-Internal Interpolation".

7.79 A0206 Positioning block mode, encoder 1

The drive is in position control with systematic lag distance. Encoder 1 (motor
encoder) provides the actual value. The command value profile is generated
in the drive. Target position, velocity, acceleration and jerk are determined by
a previously programmed positioning block According to the parameterization
of "P-0-4019, Positioning block mode", the target position shall be understood
as being absolute or as relative distance.
7.80 A0207 Positioning block mode lagless, encoder 1

The drive is in position control without lag distance. Encoder 1 (motor

encoder) provides the actual value. The command value profile is generated
in the drive. Target position, velocity, acceleration and jerk are determined by
a previously programmed positioning block According to the parameterization

7.81 A0210 Positioning block mode, encoder 2

The drive is in position control with systematic lag distance. Encoder 2

provides the actual value. The command value profile is generated in the
drive. Target position, velocity, acceleration and jerk are determined by a
previously programmed positioning block According to the parameterization
7.82 A0211 Positioning block mode lagless, encoder 2

The drive is in position control without lag distance. Encoder 2 provides the
actual value. The command value profile is generated in the drive. Target
position, velocity, acceleration and jerk are determined by a previously
programmed positioning block. According to the parameterization of
"P-0-4019, Positioning block mode", the target position shall be understood
7.83 A0300 Condition as supplied SMO: Output stage locked

Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
The drive is in the "Safe Motion" delivery state.

● Output stage is disabled (axis goes torque free)
● Safety status: "Axis is not safe"
● Digital local outputs are set to "0"
● Brake output is deactivated; electrically releasing brake is applied
A0300 - Attributes Display: SAFE
7.84 A0301 Special mode Safe motion 1 active

The drive is in the configurable and selectable safety technology operating

status
Special mode "Safe motion 1 (SMM1)"
The active safety function is "Safely-limited speed (SLS)" and, depending on
the configuration,
• Safely-limited increment (SLI) and
• Safe direction (SDI) and
• Safely-monitored transient oscillation (SLS-LT)
A0301 - Attributes Display: SMM1


status
"Safe motion 2 (SMM2)"
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,


status
the configuration,
7.100 A0320 EMERGENCY STOP active

The drive is in safety technology operating status "EMERGENCY STOP

(SMES)". The active safety function is "Safe torque off (STO)".
The safety functions configured in P-0-3270.0.1 remain active.
A0320 - Attributes Display: SMES

7.101 A0321 Special mode Safe standstill active with STO

The drive is in safety technology operating status "Special mode Safe

standstill (SMST1)". The active safety function is "Safe torque off (STO)".
A0321 - Attributes Display: SMST1

7.102 A0322 Special mode Safe standstill active with SOS

The drive is in safety technology operating status "Special mode Safe

standstill" (SMST2). The active safety function is "safe operational stop"
(SOS).

A0322 - Attributes Display: SMST2

7.103 A0323 SMO configuration mode active

The drive is in the safety technology operating status "SMO configuration

mode" (SCM).
In this status, the output stage is locked and the brakes - if available - are
controlled for the purpose of applying them.
All of the safety technology parameters can be changed by entering the SMO
password (P-0-3230.0.1). Parameters for configuring the safety technology
can only be changed in this operating status.
The configuration mode can be terminated with command C8200.
A0323 - Attributes Display: SCM
7.104 A0324 SMO: Normal operation

Allocation Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
The safety technology is in the operating status "Normal operation (NO)".

See documentation for integrated safety technology "Safe Motion": "Safe
Motion state machine"
7.105 A0325 SMO parameter mode active

The drive is in the specific safety technology state "SMO parameter mode"
(SPM).
Motion state machine"
7.106 A0326 SMO parking axis active

The safety technology function "Safe parking axis" is active.

parking axis"
7.107 A0327 SMO not active: Output stage not locked

"Safe Motion" was deactivated.

The output stage has not been locked by "Safe Motion".
7.108 A0403 Quick stop with probe detection is active

The readiness for quick stop and the detection of the quick stop signal
internally trigger the speed command value reset which causes the axis to be
shut down. This happens taking the following values into account:
● the current torque/force limit value for drives in closed-loop operation
● the maximum stator frequency change (P-0-0569) for drives in open-
loop operation
In the case of quick stop, the drive ignores the setting of command values by
the control master, decelerates in a drive-controlled way and remains in a
drive-internal operating mode until the readiness for quick stop is reset.
See also Functional Description of firmware "Quick Stop via Probe Input"
A0403 - Attributes Display: AR
7.109 A0500 Supply module in voltage control

Allocation Contained in 19VRS: «PSB»
Contained in 20VRS: «PSB»
The mains contactor is connected, the DC bus is charged and the DC bus
voltage is regulated to the command value (voltage control) or kept in the
command value range (voltage control, DC bus voltage floating).
A0500 - Attributes Display: LB
7.110 A0501 Supply module in current control

The mains contactor is connected, the DC bus is charged, the DC bus

current is regulated to a specified command value.
This operating condition may only be used for testing and

development purposes on manufacturer side!
A0501 - Attributes Display: I LB

7.111 A0502 Supply module in operation

The mains contactor is connected, the DC bus is charged to the rectified

value of the mains voltage.
The supply module is ready for the release of the DC bus voltage control.
The supplied axes show "bb" (drive ready for power switch-on).
A0502 - Attributes Display: Lb
7.112 A0503 DC bus charging active

The DC bus is currently charged to the rectified value of the mains voltage
("soft start"). If it is the first charging process after the control voltage is
switched on, the mains throttle connection is also checked.
Once the charging process is complete or after the final check on the mains
throttle is complete, the device switches to the status "A0502 Supply module
in operation".
A0503 - Attributes Display: charg
7.113 A0504 Control section ready for oper., mains voltage not
available
The control section of the supply module is free of errors and ready for
switching on the mains voltage.
There is no valid mains connected!
A0504 - Attributes Display: bb
7.114 A0505 Power supply module ready for operation

The control section and the power section of the supply module are ready for
charging the DC bus.
There is no valid mains for the device connected.
The mains contactor is switched off, the bbV relay is closed.
A0505 - Attributes Display: Bb
7.115 A0506 Supply module in rectifier mode

The mains contactor is connected and the DC bus is charged to the mains
voltage crest value.
The energy supply to the DC bus usually only takes place via the diode
bridge of the rectifier. With high mains currents and a high DC bus voltage, a
temporary switch to the active DC bus voltage control takes place.
A0506 - Attributes Display: LB
7.116 A0520 DC bus quick discharge active

The braking resistor short-circuits the DC bus to reduce the DC bus voltage
as quickly as possible.
Information on how to activate the "DC bus short circuit "function

can be found in the firmware functional description or the project
planning for the relevant device.
A0520 - Attributes Display: ZKS

7.117 A4000 Automatic drive check and adjustment

The A4000 diagnostic message is a collective diagnostic message for

different system states. It is used for drive check and adjustment. When
enabling and disabling the drive enable this diagnosis is automatically
activated. The following system states that are processed independent of the
parameterization are counted among the drive checks and adjustments:
● the holding brake delay times ("S-0-0206, Drive on delay time",
"S-0-0207, Drive off delay time")
● build-up of the air-gap field (in the case of asynchronous motors)
● automatic determination of the commutation offset (in the case of
synchronous motors with incremental measuring system)
Depending on the parameterization the automatic brake check is displayed
with the A4000 diagnostic message, too (see "P-0-0525, Holding brake
control word").
A4000 - Attributes Display: AC
7.118 A4001 Drive deceleration to standstill

The drive
● is decelerated to standstill as set in the "P-0-0119, Best possible

deceleration" parameter
- or -
● conducts a speed command value reset.

"AE".
See also Functional Description of firmware "Error"

A4001 - Attributes Display: AE
7.119 A4002 Drive in automatic mode

Allocation Contained in 17VRS: «MPB» «-» «-» «MPC»
Contained in 18VRS: «MPB» «-» «-» «MPC»
Contained in 19VRS: «MPB» «-» «-» «MPC» «PSB»
The drive-integrated PLC (MLD) has permanent (or temporary) control over
the drive; this means that the drive is controlled by the drive-integrated PLC.
See also Application Manual "Rexroth IndraMotion MLD"
A4002 - Attributes Display: AU
7.120 A4003 Setting-up mode is active

The "easy startup" mode is provided for controlling the drive manually.
When the "easy startup" mode has been activated, the display
switches between the drive address and the message "CM"
(Commissioning Mode).
In the "easy startup" mode, all motion commands of the PLC that is
integrated in the drive (IndraMotion MLD) or the master communication are
ignored.
The drive is in velocity control mode; command values are specified via
"P-0-1460, PLC/setting-up mode, velocity command value".
A4003 - Detailed diagnostics 000D0038
000D0039

7.121 A4004 Drive without drive enable

A4004 is a diagnostic message which is only shown in the diagnostic

message memory, but not on the device display.
When this diagnostic message is shown in the diagnostic message memory,

the drive executed an action that led to the status "Drive has no controller
enable". If communication is in the operating mode (e.g. phase 4 in the case
of sercos), diagnostic message A4004 is followed by diagnostic message
"A0012 Control and power sections ready for operation" or "A0013 Ready for
power on".
A4004 - Detailed diagnostics 000D0006
000D0007
000D0009
000D000A
000D000B
000D000C
000D000D
000D000E
000D002A
A4004 - Attributes Display: NoRF

7.122 A4005 Drive decelerated by motor phase short circuit

"Motor phase short circuit" has been parameterized in P-0-0119 as the

drive’s deceleration reaction to fatal errors (class F8xxx errors).
A fatal error had occurred, the drive was decelerated by a motor phase short
circuit.
7.123 A4006 Drive decelerated in a controlled way

Motor encoder monitoring has triggered (F8022) and controlled deceleration

was selected in P-0-0119 as the deceleration reaction.
After the error had occurred, the drive was decelerated by a controlled
procedure.
7.124 A4007 "Drive on" delay time

When drive is switched on, the command value input is only applied after the
"Drive on" delay time. For motors with a holding brake, the "Drive on" delay
time corresponds to the brake delay that passes until the brake is released.
Control state of the drive:
● The drive is in position control if an operation mode with position control
has been configured.
● The drive is in velocity control with command value="0" if position
control has not been configured in the operation mode.
A4007 - Attributes Display: AC
7.125 A4008 "Drive off" delay time

When drive enable is switched off, drive enable is only removed after the
"Drive off" delay time. For motors with a holding brake, the "Drive off" delay
time corresponds to the brake delay that passes until the brake is applied.
The drive is in velocity control with command value="0".
A4008 - Detailed diagnostics 000D002C

7.126 A4009 Motor phase short circuit with drive enable switched
off
For synchronous motors without a holding brake, it can be useful to make

motor motion difficult by motor phase short circuit with drive enable switched
off.
The motor phases were short-circuited via the power semiconductors of the
controller, so that the motor phase short circuit also takes effect with drive
enable switched off.
Motor phase short circuit with drive enable switched off cannot be
combined with the safety function "Safe torque off (STO)".

7.127 A4010 Drive control command active

A drive control command is active. A diagnostic command message is

additionally present and shows which drive control command is active and
what its state is.
A4010 - Attributes Display: DCC
Error messages
8 Error messages
8.1 Fatal system errors (F9xxx)
8.1.1 Behavior in the Case of Fatal System Errors
In the case of fatal system errors, there is a grave problem in the drive
system (e.g. watchdog error, processor crash, ...) which does no longer allow
regular operation of the drive. Due to a hardware or firmware error, the drive
firmware is no longer operable; clearing an error is no longer possible.
In this case, the drive reacts automatically as follows:
Drive Behavior ● All digital outputs are set to "0".
Safety technology: Safe feedback is deactivated!
● The "ready for operation" relay opens, this also switches power off in
case the wiring is correct.
● The output stage is locked, this disables the drive torque.
● The brake output is deactivated; if a self-holding brake is used, it is
applied!
● A diagnostic message of the pattern F9xxx (fatal system error) is output
at the display.
Commissioning Steps After a fatal system error has occurred, the drive can only be put into
operation again when:
1. The 24V supply is completely switched off and on so that a restart of the
drive is carried out (incl. booting process and initialization).
2. The drive is run up to the operating mode again.
3. Power is switched on again.
In case fatal system errors are occurring repeatedly, contact our

service department as operating the drive then is no longer
possible.
8.1.2 F9001 Error internal function call

The device was switched off by the firmware.
Cause Remedy
Undefined cause Switch device off/on. If error persists, replace device

An error occurred in firmware (general software error) Please contact our service department
F9001 - Attributes Display: F9001

CiA error code: 6180
Error messages
8.1.3 F9002 Error internal RTOS function call

Cause Remedy
An error occurred in the firmware (general software error). Please contact our service department.
The drive was switched off by the firmware.

8.1.4 F9003 Watchdog

Cause Remedy
Firmware-side watchdog timer was triggered (general Replace device, contact our service department
firmware error). Drive was switched off by firmware.

8.1.5 F9005 Processor exception

Cause Remedy
A fatal processor error has occurred. Device was switched Switch drive off and then on again.
off by firmware (torque-free). If processor error is still displayed, please contact our
service department

8.1.6 F9100 Hardware watchdog

The hardware-side runtime monitor had triggered. The drive was switched
off.
Please contact our service department.

Error messages
Cause Remedy
Firmware error Replace programming module

Hardware error Replace control section or drive controller

8.1.7 F9200 Booting error programming module

Cause Remedy
The programming module contains a firmware which does Replace programming module. Ensure that the firmware on
not match the device. The programming modules have been the programming module matches the controller:
switched ● MPCxxVyy for Advanced devices
● MPBxxVyy for Basic devices
● MPExxVyy for Economy devices
● MPMxxVyy for multi-axis devices
There is an error in the firmware saved on the programming Replace the programming module or replace the firmware
module (general firmware or hardware error). The drive was on the programming module
switched off
The programming module is faulty Replace programming module
The control section is faulty Replace the control section or controller

8.1.8 F9201 Booting error device

The firmware cannot be started.
Cause Remedy
An error occurred when controller had been booted Replace programming module; replace control section or
drive controller

8.1.9 F9202 Processor watchdog

Error messages
Cause Remedy
A fatal processor error occurred or the runtime monitor of Switch drive off and then on again.
the control processor triggered. If error is still displayed, please contact our service
The drive was switched off (torque-free). department

8.2 Fatal errors (F8xxx)

8.2.1 Behavior in the Case of Fatal Errors (F8xxx)
Generally, there are 3 types of fatal errors (F8 errors):
● Fatal errors during initialization (e.g. F81xx)
● Fatal errors during operation (e.g. F80xx)
● Fatal safety technology errors (F83xx)
Fatal Errors During Initialization Fatal initialization errors cannot be cleared but require that the drive be
(Initialization Errors) restarted.
The drive can be restarted either by removing the 24-V supply or

(as of MPx17V08) by starting the "Reboot command" (C6400).
Fatal Errors During Operation When a fatal error occurs during operation, control (or U/f control) of the drive
is no longer ensured; therefore, drive enable is immediately removed in case
of these errors and the holding brake - if available - is switched on.
Depending on the setting in "P-0-0119, Best possible deceleration", bit 8,
D.C. braking can be additionally activated.
With the corresponding setting in "P-0-0118, Power supply,

configuration", the power supply is disconnected in the case of
fatal errors.
Fatal Safety Technology Errors When a fatal safety technology error occurs, the safety technology
immediately locks the output stage via two channels (in the case of an error
in the output stage interlock, possibly via one channel only) (STO) and - if
available and configured - switches the holding brake on (SBC). D.C. braking
(P-0-0119, bit 8) is no longer possible.
With the corresponding setting in "P-0-0118, Power supply,

configuration", the power supply is disconnected in the case of
fatal safety technology errors.
See also Application Manual "Error Reactions"
Commissioning Steps After a fatal error has occurred, the drive can only be put into operation again
after the following steps were carried out:
1. The cause of the error must be recognized and removed; this possibly
means that an entire component (e.g., motor or drive controller) must be
replaced.
2. The error message must be cleared by the error clearing command [cf.
"S-0-0099, C0500 Reset class 1 diagnostics"] (for this purpose, it might
possibly be necessary to switch to the parameter mode or to switch the
drive off completely).
Error messages
3. The drive must be in the operating mode again and power must be
switched on again ("Ab").
4. Drive enable must be switched on again (positive edge).
In case fatal errors are occurring repeatedly, contact our service

department as operating the drive then is no longer possible.
8.2.2 F8000 Fatal hardware error

Cause "F8000" is a collective diagnostic message for the following fatal hardware
errors:
● "F8060 Overcurrent in power section" and
● "F8069 +/-15-volt DC error"
Normally, "F8000" is not visible on the display of the drive controller because
"F8060 Overcurrent in power section" or "F8069 +/-15-volt DC error" will be
displayed shortly afterwards.
Reading the Exact Cause of an An external control unit cannot recognize the exact cause of the error; the
Error at an External Control Unit exact cause of the error, however, can be detected via the service channel by
re-reading "S-0-0390, Diagnostic message number" and "S-0-0095,
Diagnostic message".
Remedy The particular cause of the error can be found in the diagnostic message
which follows error F8000 ("F8060 Overcurrent in power section" or "F8069
+/-15-volt error").
Error Reaction The error reaction defined for fatal errors (F8xxx) is executed on the spot.
Error can be cleared: –
8.2.3 F8001 Telegram failure, power section parallel bus

During parallel connection of multiple HMU05, the communication between

the individual power sections (HMU) takes place via a communication bus
with double ring structure.
Multiple simultaneous telegram failures occurred on both communication
rings in the parallel connection bus.
Cause Remedy
The communication bus between the power parts is faulty ● Check wiring
● Check grounding
If there are no faults in the wiring and grounding, the parallel
connection module (HCP01.1-P001) is faulty and must be
replaced

Error messages
8.2.4 F8003 Communication error with mains connection module

Multiple telegram failures to the mains connection module "HNA".
Cause Remedy
Cable break Check / replace wiring

Faulty mains connection module "HNA" Check mains connection module and replace if necessary
Faulty motor/mains module (HPC01.1-MNxx) Check motor/mains module and replace if necessary
(For information on mounting and dismounting components,
see documentation "Rexroth IndraDrive ML, Drive Systems
with HMU05")

8.2.5 F8005 Motor initialization velocity too high

If search is selected in the control word of the current controller, an attempt is

made to determine the current velocity and the rotation direction of the motor
when connecting the controller release. At a very high motor velocity, the
determination cannot be performed completely.
Cause Remedy
The search has been started at an excessive speed. The motor has to be decelerated mechanically or coasted to
stop
- or -
Switch off search (P-0-0045, bit 8="0")

8.2.6 F8008 Autom. commutation: Axis blocked

In synchronous motors with incremental motor encoder, the commutation

offset is determined when connecting the controller release. An error
occurred in the process.
Due to the process for offset determination set in "P-0-0522, Control word for
commutation setting", free movement of the motor is required. If this is not
provided, this error is generated and the offset determination is canceled.
Cause Remedy
Axis clamped Remove clamping

Brake is closed Checking the brake control
Axis is in contact with a stop Make sure that the axis is not switched off at the stop. Move
away the axis from the stop before setting the controller
release
Error messages

8.2.7 F8009 Autom. commutation timeout: Axis in motion

During the execution of the automatic commutation setting, the axis has to be
at standstill and/or the axis has to come to standstill after a movement
triggered by a command. If this is not possible, this error is generated and the
offset determination is canceled.
The automatic commutation setting is always carried out when in
synchronous motors with incremental encoder the controller release is
connected and the drive has previously been in the parameterization mode.
Cause Remedy
Motor coasts to stop Wait for the motor to coast to stop

- or -
The motor has to be decelerated mechanically
- or -
Induce short-circuit braking
- or -
Before a phase switch and/or switching off the control
voltage, the motor has to be shut down in a controlled
manner
Axis oscillates for a long time Dampen the axis, create a low additional friction on the axis
if required

8.2.8 F8010 Autom. commutation: Max. motion range when moving back
The axis moved away from its initial position during the commutation setting
process.
With the saturation method, this error is generated when the maximum
motion range was exceeded and "moving back to start position" had been
set.
With the sine-wave method, this error is generated independent of the setting
"moving back to start position".
Error messages
Cause Remedy
Positive feedback of motor; commutation offset Check motor encoder signals. To do this, move motor
determination generated incorrect value for "P-0-0521, knowing manufacturer-side setting for sense of rotation or
Effective commutation offset". velocity polarity and check actual position values with regard
to polarity and validation.
If necessary, invert polarity of motor encoder or invert two
motor phases. Carry out commutation setting again.
Positive feedback of motor after motor replacement Check whether direction of motion (sense of rotation) of
(servicing) due to connection error. motor complies with that of motor encoder. If not, invert
direction of motion of motor (invert phases) or of motor
encoder.
During commutation setting process, axis got into Set "search direction for sine-wave method" to "increase of
resonance. amplitude with priority" in "P-0-0522, Control word for
commutation setting"
- or -
Reduce value in "P-0-0507, Test frequency for angle
acquisition" in order modify excitation frequency for sine-
wave method compared to resonance frequency of axis.
Due to low friction of mechanical system, axis moved away With saturation method, switch off "moving back to start
from its initial position at start of commutation offset setting. position", if possible on axis-side!
With sine-wave method, determine new start values for
P-0-0506 and P-0-0507! To do this, set P-0-0506 to "0" and
start command C1200!

8.2.9 F8011 Commutation offset could not be determined

The sine-wave method for commutation setting could not determine any
value for the commutation offset.
Error messages
Cause Remedy
Axis could not carry out required motion Check axis for stiffness or blocking; if necessary, reduce
friction (lubrication, guiding device of trailing cable
installation) or remove blocking
- or -
Set "search direction for sine-wave method" to "increase of
amplitude with priority" in "P-0-0522, Control word for
- or -
Increase value in "P-0-0506, Amplitude for angle acquisition"
in order to increase excitation amplitude for sine-wave
method compared to frictional force of axis.
During commutation setting process, axis got into resonance Set "search direction for sine-wave method" to "increase of
frequency with priority" in "P-0-0522, Control word for
- or -
Reduce value in "P-0-0507, Test frequency for angle
acquisition" in order modify excitation frequency for sine-
wave method compared to resonance frequency of axis
Motor has not been supplied with current Check motor connection
Sine-wave method without success, although axis has Try with manually input values if automatic search for motor-
required freedom of motion and doesn't show any specific values for "P-0-0506, Amplitude for angle
resonance phenomena acquisition" and "P-0-0507, Test frequency for angle
acquisition" doesn't provide any result in spite of several
repetitions.
Signals of motor encoder do not reflect motion process of Check motor encoder signals. To do this move motor
axis; encoder cables of 2 drives possibly mixed up knowing manufacturer-side setting for sense of rotation or
- or - velocity polarity and check actual position values with regard
to polarity and validation.
Incorrect polarity of encoder signals

8.2.10 F8012 Autom. commutation: Max. motion range

During commutation setting (sine-wave method) the axis left the allowed
actual position value range.
Error messages
Cause Remedy
Heavy axis motion due to too high drive torque or force Reduce value contained in "P-0-0506, Amplitude for angle
generation during commutation setting acquisition"
- and / or -
Increase value contained in "P-0-0507, Test frequency for
angle acquisition"
External forces or torques cause axis to move out of allowed Check mechanical axis system for occurrence of external
actual position value range forces, e.g. due to trailing cable installation, vertical load etc.
Cogging force or torque causes axis to move out of allowed Make sure that, during commutation setting by means of
actual position value range sine-wave method, cogging forces of motor do not cause
position limits to be exceeded near limits of actual position
value range

CiA error code: 718A
8.2.11 F8013 Automatic commutation: Current too low

The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. When it does not exceed a minimum
threshold, the error F8013 is generated.
Cause Remedy
Actual current value amplitude is not sufficient for exact Increase signal voltage ("P-0-0506, Amplitude for angle
determination of commutation offset acquisition" or reduce signal frequency ("P-0-0507, Test
frequency for angle acquisition" and restart commutation
setting process.
- or -
Enter value "0" in "P-0-0506, Amplitude for angle
acquisition" Appropriate value for P-0-0506 is thereby
automatically determined during commutation setting
process.
- or -
Reduce value of "P-0-0517, Commutation: required
harmonics component", if approx. 30 similar values are
determined for "P-0-0521, Effective commutation offset" with
repeated commutation setting for different motor positions
(drive remains in "Ab"). Reduce "P-0-0517, Commutation:
required harmonics component" until command error F8013
no longer occurs; finally check function several times!
If error occurs repeatedly, please contact our service department.

Error messages

CiA error code: 718C
8.2.12 F8014 Automatic commutation: Overcurrent

The actual current value amplitude resulting from automatic commutation

offset determination is monitored. When a maximum value is exceeded, the
error F8014 is generated.
Cause Remedy
Amplitude of actual current value is higher than allowed Reduce signal voltage ("P-0-0506, Voltage amplitude for
maximum current angle acquisition") or increase signal frequency ("P-0-0507,
Test frequency for angle acquisition").
- or -
With "P-0-0506, Voltage amplitude for angle acquisition"=0
start automatic determination of appropriate values.

CiA error code: 718E
8.2.13 F8015 Automatic commutation: Timeout

Saturation Method During the execution of the automatic commutation offset determination (after
drive enable) an error was detected.
Cause Remedy
An error occurred in internal signal generator used for Switch drive off and on again. If error continues to be
determining commutation offset. signaled, contact our service department.
Sine-Wave Method The commutation setting with motion by means of the sine-wave method is
completed when the axis, after commutation offset determination, has been
moved back to the initial position at which it was before the start. If this is
impossible, the error F8015 is generated.
Cause Remedy
Axis cannot be moved back to position at which it was at Check mechanical axis system, remove blocking or
beginning of commutation determination. stiffness.
Error messages

CiA error code: 718F
8.2.14 F8016 Automatic commutation: Iteration without result

When the commutation offset was determined automatically (following drive

enablement), no suitable values for "P-0-0506, voltage amplitude for angle
measurement" and "P-0-0507, test frequency for angle measurement" could
be found for the determination of a usable commutation offset of the
connected motor.
Cause Remedy
The current generated during the automatic determination of Check if the controller is able to supply a sufficiently high
the commutation offset could not cause any saturation current to the motor (see "S-0-0109, motor peak current"
effects in the motor. and "S-0-0110, amplifier peak current"). If the maximum
The required motor current is approx. 1.5 times the current current of the controller is too low, exchange the drive
at standstill ("S-0-0111, motor current at standstill") controller for a bigger one
- or -
Change the position of the movable part of the motor in
respect to the fixed part and restart command "P-0-0524,
C1200 Commutation offset setting command"
- or -
Contact the customer service and install an absolute
measuring system if the motor does not permit automatic
commutation
See also Functional Description of firmware "Commutation Setting".

8.2.15 F8017 Automatic commutation: Incorrect commutation adjustment

This error only occurs during sensorless positioning of

synchronous motors.
An error occurred during commutation adjust of the carrier-signal-based rotor

position detection. It was impossible to determine the alignment of the rotor.
Error messages
Cause Remedy
It was impossible to determine initial position of rotor. Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Rotor was moving during transient oscillation of rotor Make sure that rotor does not turn during commutation
position estimation. process.
An error occurred when rotor angles determined before and Make sure that rotor does not turn during commutation
after commutation adjust were compared. process.
- and/or -
Adjust parameter values of "P-0-0506, Amplitude for angle
acquisition", "P-0-0507, Test frequency for angle acquisition"
and "P-0-0517, Commutation: required harmonics
component" or start search mode.
- and/or -
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Determined commutation offset is wrong. Adjust parameter values of "P-0-0506, Amplitude for angle
- and/or - acquisition", "P-0-0507, Test frequency for angle acquisition"
and "P-0-0517, Commutation: required harmonics
Rotor was moving during saturation method. component" or start search mode.

8.2.16 F8018 Device overtemperature shutdown

The heat sink temperature of the device is monitored by a temperature

sensor and a temperature model. When the heat sink temperature exceeds
the maximum value set for the device and when the load determined by the
temperature model has reached the absolute limit value set for the device,
the device goes torque-free in order to protect it against destruction.
The error can only be cleared when the device has cooled down.
Cause Remedy
Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical
system and drive sizing (on average, working power may not
exceed continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control
is valid up to an ambient temperature of 40 °C cabinet
Heat sink of device is dirty Clean heat sink
Error messages
Cause Remedy
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position in control cabinet ventilating heat sink
Device-internal blower failed If blower fails, replace device or power section
Failure of air conditioning for control cabinet Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet
dissipation
For liquid-cooled devices: Connect cooling system
No cooling system connected
For liquid-cooled devices: Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
See also Functional Description of firmware "Current Limitation Loop".

8.2.17 F8021 Motor encoder: Incorrect enc. signals (can be cleared in PM)
Allocation Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
The signals of analog measuring systems (motor encoder) are monitored on

hardware and software level with regard to their amplitudes and signal shape.
If a signal (sin or cos) leaves the allowed range or if the signals are disturbed
in such a way that a position error occurs, this error is generated.
For digital measuring systems (motor encoder), the transmission of the
position is monitored by means of a checksum (CRC). If a checksum error is
detected, this error is generated.
As the position is no longer generated correctly when this error is

detected, the encoder must be re-initialized.
When using an incremental encoder with square-wave signals,

monitoring is carried out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for
their levels.
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
When operating a motor of "IndraDyn MSM" type: Faults such as an electrostatic discharge to the shaft of the
A fault has been detected in the sending telegram of the motor may lead to failure of the encoder sending telegram.
encoder; telegram failed twice Prevent faults.
Error messages
Cause Remedy
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller

8.2.18 F8022 Enc. 1: Enc. signals incorr. (can be cleared in PM)

The signals of analog measuring systems (encoder 1) are monitored on

For digital measuring systems (encoder 1), the transmission of the position is
monitored by means of a checksum (CRC). If a checksum error is detected,
this error is generated.

detected, the encoder must be re-initialized.

their levels.
Cause Remedy
necessary
When operating a motor of "IndraDyn MSM" type: Faults such as an electrostatic discharge to the shaft of the
A fault has been detected in the sending telegram of the motor may lead to failure of the encoder sending telegram.
encoder; telegram failed twice Prevent faults.

Diagnostic no. as of 18VRS: C00F8022
Error messages
8.2.19 F8025 Overvoltage in power section

The DC bus voltage is monitored. If the DC bus voltage briefly reaches the
maximum permissible value (this value depends on the power section used,
e.g. 900 V), the warning E8025 is generated first of all.
The release of the axes is switched off so that the axes no longer feed back
into the mains.
As the DC bus voltage has not fallen below the switch-off threshold despite
this measure, the error F8025 is output.
When the error is triggered, the device is disconnected from the

mains.
Cause Remedy
The energy fed back into the DC bus by the machine Reduce the feedback power through lower acceleration
mechanics during braking was so high that it could not be values.
dissipated by the supply unit within the feed back time. This - or -
caused the DC bus voltage to rise to an impermissible value.
Correct drive design.
- or -
Ensure that the supply unit has adequate dimensions with
regard to braking energy requirements; if the dimensions of
the braking resistor are not adequate, use additional braking
resistor where necessary.
No braking resistor connected or connection or cable faulty. Connect braking resistor or check connection.
F8xxx error at high speeds (field weakening area) on a Check whether the braking resistor value in the DC bus
synchronous motor. exceeds the maximum permissible value for the motor;
reduce the braking resistor value to or below the permissible
value if necessary.
Device fault on the supply unit (error in the DC bus voltage Replace the power section of the supply unit
measurement)
If the error occurs repeatedly, please contact our service

department.
F8025 - Detailed diagnostics 00370043

8.2.20 F8027 STO/SBC while drive enabled

Allocation Contained in 17VRS: «MPB» «MPE» «-» «MPC»
When this error occurs, the drive immediately goes torque-free!

Error messages
Cause Remedy
Special mode "safe standstill" was selected with active Remove drive enable before selection
control. - or -
Check control / wiring
Drive enable was set in special mode "safe standstill". Go to normal operation before setting drive enable
- or -

CiA error code: F0CC
8.2.21 F8028 Overcurrent in power section

The controller monitors the motor / mains current (=controller output current)
flowing through the power transistors. If this current exceeds the allowed
value of the power transistors, the power transistors are switched off for their
own protection.
Cause Remedy
Drive controller: Remove short circuit

There is a short circuit at the motor / mains connection
Supply unit: Check wiring of mains connection components
A wiring error has occurred in the mains connection
components
Drive controllers connected in parallel: Check wiring
An error has occurred in the parallel wiring of the motor
outputs / balancing choke.
Device is defective Replace device

8.2.22 F8033 Ground fault in motor line

Cause Remedy
The sum of the effective motor currents is monitored for Check insulation of motor lines.
devices of the IndraDrive ML range. Check insulation of controller.
The sum of the motor currents is greater than half the
nominal current of the device.
Error messages

8.2.23 F8034 Communication error, power section modules

Multiple telegram failures to the internal optional assembly/to external

optional cards.
Cause Remedy
Communication with one of the optional cards (HCP) faulty Replace the faulty optional card
with HMU05")
Internal optional assembly faulty Replace device

8.2.24 F8042 Encoder 2 error: Signal amplitude incorrect

The error F8042 only occurs in conjunction with the function

"redundant motor encoder".
The signals of analog measuring systems (encoder 2) are monitored on

For digital measuring systems (encoder 2), the transmission of the position is
monitored by means of a checksum (CRC). If a checksum error is detected,
this error is generated.

detected, it is necessary to initialize the encoder again.

their levels.
Cause Remedy
necessary
Error messages
Cause Remedy
Measuring system dirty Replace measuring system

8.2.25 F8044 Device-internal module communication disturbed

The communication to the control section peripherals is disturbed.
Cause Remedy
Drive controllers of HCQ/HCT type with digital I/O extension: Connect external 24V supply
External 24V supply (connection point X70) missing
Sporadic failure of communication to control section Switch device off and then on again
peripherals
Communication to control section peripherals is impossible Replace hardware

8.2.26 F8055 Incorrect processing of diagnostic message

Cause Remedy
A problem occurred while processing the diagnostic 1. Make a backup of all parameters.
messages of the drive. In too short a time too many 2. Have a look at the diagnostic trace to find out which
diagnostic messages were reported which could not be diagnostic messages were signaled last. A warning or
processed by the diagnostic system. an error is likely to have been cyclically signaled. This
diagnostic message usually appears repeatedly in the
diagnostic trace.
3. Now, switch the drive off and back on. During re-
commissioning see to it that the relevant diagnostic
message is not cyclically generated.
Then get in contact with our service department and forward
the parameter backup to them.

Error messages
8.2.27 F8060 Overcurrent in power section

The current in the power transistors has exceeded the maximum allowed
device peak current (cf. "S-0-0110, Amplifier peak current").
In the case of an internal signal voltage error (15 V) in the power

section, this error message is generated, even without power,
directly when the device is switched on, before power is
demanded from the power section.
Cause Remedy
External 24 V supply is not sufficiently overload-proof Check overload withstand capability of external 24 V power
supply unit and replace it, if necessary
Short circuit in motor or motor cable Check motor cable and motor for short circuit
Power section of drive controller is defective Replace drive controller
Current loop parameterized differently Check current loop parameterization (cf. motor data sheet)
and correct it if necessary after having contacted our service
department
Voltage fluctuations in DC bus too high because system Reduce system impedance, e.g. increase feed wire cross
impedance too high sections

8.2.28 F8064 Interruption of motor phase

During voltage-controlled U/f operation for asynchronous motors, the drive

monitors the motor current in the individual line phases.
The drive has detected that the current is "0" in at least one phase.
DANGER Lethal injury caused by coasting axis (torque

disable)!
⇒ Additional measures might be necessary to stop the axis.
Restrictions of Correct Monitoring ● Safe monitoring of individual phases is only possible with a speed
Function command value of >10 U/min.
● The monitoring function also triggers if the motor has been incorrectly
parameterized (e.g. the value parameterized for "P-0-4004, Magnetizing
current" is much higher than the actually available magnetizing current).
Error messages
DANGER Lethal electric shock by live parts with more

than 50 V!
⇒ Observe the safety regulations when working / conducting checks at the
drive controller / motor.
Cause Remedy
At least one line phase of motor has not been connected to Check motor cable connection (check assignment motor
drive controller or line break has occurred connection↔axis).
Check individual motor phases from connection at drive
controller for line break and high ohmic resistance
For a double-axis device, the two motor power connections Check whether assignment of motor connections is correct
were interchanged or generally incorrect axis assignment for the axes
was made between motor and controller
Motor winding (U, V, W) has burned out Check motor winding by means of ohmmeter and replace
motor, if necessary
Voltage boost too low in U/f operation Adjust P-0-0568 until magnetizing current flows at standstill
(P-0-0440 corresponds to P-0-4004)
Motor incorrectly parameterized Compare motor data in drive to actual motor data
(see also Functional Description of firmware "Rexroth
Motors" and "Determining the Parameter Values of Third-
Party Motors")
Power section defective Replace drive controller
The sequence of the replacement of drive controllers is described

in the documentation "Project Planning Manual for Power
Section".

8.2.29 F8069 Error in device-internal power supply

There is a fault in the internal voltage supply of the device.
The fault cannot be deleted via the command "S-0-0099, C0500

Reset class 1 diagnostics".
Cause Remedy
Error in the external DC24 V voltage supply Check the external voltage supply
Power section faulty Replace device
Error messages

8.2.30 F8070 Control voltage failure

Up to MPx16, the name of this diagnostic message was "F8070

+24Volt DC error".
Devices of the "Rexroth IndraDrive" range need an external control voltage

supply for operation. This voltage is monitored with regard to the allowed
tolerance.
For the allowed supply voltage and its tolerance: See Project Planning
Manuals for the drive controllers, index entry "Control voltage"
When the error F8070 occurs, the motors within the drive system
immediately go torque-free. Possibly existing self-holding motor
holding brakes apply.
The error F8070 cannot be cleared by the error clearing

command (cf. "S-0-0099, C0500 Reset class 1 diagnostics"). To
clear the error, the drive must be switched off completely!
Cause Remedy
Supply cable for control voltages defective Check and, if necessary, replace supply cable for control
voltages and connector
Overload of power supply unit for control voltage Check supply voltage at power supply unit
Power supply unit defective Check and, if necessary, replace power supply unit
Short circuit in wiring of supply voltage Check wiring for short circuit

8.2.31 F8071 Overvoltage of control voltage

Up to MPx16, the name of this diagnostic message was

"Overvoltage 24 volt".
Devices of the "Rexroth IndraDrive" range need an external control voltage

supply for operation.
Error messages
The devices were designed according to IEC 61131 and IEC 61000-4-5. Both
the voltage range and the noise immunity against surge voltage comply with
the standards.
The error F8071 is signaled when the maximum voltage value has been
exceeded for an inadmissibly long time.
WARNING Dangerous movements! Danger to life, risk of

injury, serious injury or property damage by
damaged components!
When the error F8071 had been signaled, components in the drive controller
were possibly damaged, the drive controller must be replaced.
Cause Remedy
Application error: Power supply unit not suited for control Use appropriate power supply unit for the device
voltage supply
Power supply unit defective Replace power supply unit
Electrical data: See Project Planning Manuals for the drive controllers, index
entry "Control voltage"
8.2.32 F8076 Error in error angle loop

This error only occurs with sensorless positioning of synchronous

motors.
An error in the position detection has occurred with sensorless positioning of

synchronous motors. For reasons of safety, the output stage is locked.
DANGER Lethal injury caused by coasting axis (torque

disable)!
⇒ Additional measures might be necessary to stop the axis.
Error messages
Cause Remedy
Incorrect parameterization of sensorless positioning of Check whether parameter values of sensorless positioning
synchronous motors. of synchronous motors correspond to specification.
Rotor position incorrectly determined. Check whether preset limit values are complied with.
Possible causes:
● Acceleration too high
● Speed too high
● Instability in speed control loop
● Power line defective
If the error occurs repeatedly, please contact our service

department.

8.2.33 F8078 Speed loop error

The velocity loop monitor is activated if the following conditions occur

simultaneously:
● "P-0-0049, Effective torque/force command value" is at the torque/force
limit.
● "P-0-0049, Effective torque/force command value" and actual velocity
have different signs.
● The actual velocity at the motor shaft is greater than 20 rpm (or
20 mm/min for linear motors).
● Actual acceleration and control deviation have different signs.
Cause Remedy
Motor phases (U, V, W) interchanged so that commutation Check motor cable connection and correct phase
of motor is incorrect assignment, if necessary
Incorrect encoder arrangement Correct encoder arrangement (inverting rotational direction
of encoder can possibly resolve problem)
Velocity loop setting incorrect Check velocity loop setting according to Functional
Description/Application Manual
Commutation offset incorrect Replace motor (in the case of MHD, MKD, MKE motors); in
the case of kit motors, make commutation settings
Drive is operated in voltage-controlled form (without Deactivate velocity loop monitoring in P-0-0556
encoder; U/f control); with this drive function, velocity loop
monitoring does not make sense
Motor encoder defective Replace motor encoder (or motor)
Error messages

8.2.34 F8079 Velocity limit value exceeded

Cause Remedy
"S-0-0040, Velocity feedback value" has exceeded the Check and, if necessary, correct parameterization of
1.125-fold value of one of the parameterized velocity limit "S-0-0091, Bipolar velocity limit value", "S-0-0038, Positive
values velocity limit value" and "S-0-0039, Negative velocity limit
value".
MPx06 and above: Within the parameterized standstill
window (S-0-0124), the actual velocity is not monitored with
regard to the limits resulting from S-0-0091, S-0-0038 and
S-0-0039.
Velocity control loop unstable or too heavily oscillating due Check and, if necessary, correct parameterization of velocity
to incorrect parameterization controller
All firmware products not requiring export licenses released ● Check operability: Does the drive follow a preset
as of 2014-12-311) (functional packages "0: open-loop velocity command value? If necessary, ensure
package" or "1: closed-loop package"): operability by repeating commissioning.
The actual velocity values reached in open-loop operation ● Sensorless motor operation: Check slip compensation.
correspond to an inverter output frequency ≥ 600 Hz. In the case of over-compensation, the velocity
feedback value can be higher than the velocity
command value. If necessary, reduce velocity
command value or rated slip frequency (P-0-0600).
● Check whether another connected motor "tows" the
motor to a higher velocity.
See also Functional Description of firmware "Control loop structure"


8.2.35 F8091 Power section defective

While the power section is initialized, an attempt is made to access its

parameters. These parameters are the following:
● S-0-0140, Controller type
● P-0-0809, Properties of charging circuit
1) On 2014-12-31, an amendment of Annex 1 to the EU Dual-Use Regulation

(EC) No 428/2009 entered into force
Error messages
● P-0-0859, Data of internal braking resistor

● P-0-1510, Circuit board code power section
● P-0-1519, Module code of power section
● P-0-3902, Command values for power section adjustment
● P-0-3903, Adjustment values of power section
● P-0-4058, Amplifier type data
● P-0-4059, Electric type data of power section
Cause Remedy
One of the parameters of the power section is invalid (e.g., Check the content of list "S-0-0021, IDN-list of invalid
checksum error) or contains an inadmissible value. operation data for CP2", note down the IDNs (ident
numbers/parameters) contained therein, and then please
contact Rexroth customer service.
Control and/or power section defective Replace drive controller
The replacement of the entire drive controller is described in the

Project Planning Manual for the power section.

8.2.36 F8099 Fatal error in power section

Collective message for fatal power section errors, which are transmitted by
the power section. The diagnostic number transmitted by the power section is
entered in the log book.
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section

8.2.37 F8100 Error when initializing the parameter handling

During the initialization of the drive, the control section is checked for correct
function. An error was detected during this check.
Error messages
Cause Remedy
Special case for MPx16: Firmware upgrade to higher According to instructions, put drive into ready-for-operation
firmware version. status again
This error occurs once at first start of drive after firmware (see Application Manual " Firmware Replacement").
upgrade. Drive can only be switched to operating mode again after
control voltage once was switched off and on again.
Control section configuration not allowed, because an Switch drive off and on again. If error occurs again, replace
optional module is not supported by firmware control section by different control section with appropriate
configuration.
If necessary, contact our service department
Firmware used is not suitable, i.e. hardware and firmware do Select suitable firmware by means of Functional Description
not match or Version Notes / Release Notes (see index entry
"Supported control sections")
Hardware defect on control section Switch drive off and on again. If error still occurs, contact our
service department and, if necessary, replace control
section or entire drive controller
Only Rexroth service engineers or especially trained users are

allowed to replace the control section. The replacement of the
entire drive controller is described in the Project Planning Manual
for the power section.
See also Functional Description of firmware "System Overview"

See also Project Planning Manual for Control Section, index entry "Type
code"
8.2.38 F8102 Error when initializing power section

During the initialization of the drive the power section is checked for correct
function. An error was detected during this check.
Cause Remedy
Hardware and firmware do not match Check Firmware Release Notes or Firmware Version Notes
and, if necessary, use latest firmware release.
Parameter "P-0-1510, Circuit board code power section" Switch drive off and on again. If error occurs again, check
stored on power section is invalid or was incorrectly written. content of "P-0-1510, Circuit board code power section" and
contact our service department!
Maybe you have to replace power section or entire drive
controller.
Hardware defect on power section Replace power section or entire drive controller.
Error messages


8.2.39 F8118 Invalid power section/firmware combination

The power section is not compatible with the used firmware.
Cause Remedy
The firmware does not support the type of power section at Replace firmware. Use a firmware version or a firmware
hand release that supports the type of power section.
- or -
Replace the power section. Use a type of power section that
is supported by the used firmware version and release.
The power section may only be replaced by Rexroth service
engineers. Please contact our customer service.
In addition, IndraDrive C / IndraDrive M as of MPx-18: Replace the power section. Use a power section that was
The hardware of the power section is outdated. manufactured in 2007 or later.
The HCS02, HCS03, HCS04, HMS and HMD power The power section may only be replaced by Rexroth service
sections are only supported by control section Cxx02.x if engineers. Please contact our customer service.
they were manufactured in 2007 or later [see indication "FD"
on the name plate of the power section (example: 07W49
means year 2007, week 49)]. Older hardware of these
device types is no longer supported.

8.2.40 F8120 Invalid control section/firmware combination

The control section is incompatible with the firmware used.

Error messages
Cause Remedy
During firmware replacement, there is an attempt to copy Use firmware that matches control section
firmware to controller which does not match
Inappropriate control section Use control section that matches firmware
Safety technology incorrectly configured for double-axis Check control section configuration
device

8.2.41 F8122 Control section defective

During the initialization of the control section an error occurred.
Cause Remedy
Hardware of control section is defective Replace control section or entire drive controller; use
hardware configuration of same type


8.2.42 F8128 Error when initializing an optional interface

An error occurred during the initialization of an optional interface.
Cause Remedy
Wrong or faulty firmware Replace firmware

Only IndraDrive Cs: Control panel defective Replace control panel
Drive controller defective Replace drive controller

Error messages
8.2.43 F8129 Incorrect optional module firmware

The firmware of an optional module is defective.
Cause Remedy
Firmware of an optional module programmed in invalid form Carry out firmware update (again). If error occurs
- or - repeatedly, it is necessary to replace control section or drive
controller
An error occurred during firmware update


8.2.44 F8140 Fatal CCD error

Allocation Contained in 17VRS: «-» «-» «-» «MPC»
Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Cause Remedy
"Error reaction active" has been set in P-0-1800.0.1/ Locate faulty slave and remove cause of error for this slave
P-0-1600 (CCD: Configuration) and an F8 error has
occurred in a slave
The CCD master reacts with torque disable.
See also Functional Description of firmware "Cross communication (CCD)"

CiA error code: FF22
8.2.45 F8300 Dynamization pulse width incorrect

Allocation Contained in 16VRS: «MPB» «MPE» «-»
Contained in 17VRS: «MPB» «MPE» «-» «MPC»
The dynamization pulses of the selection signals mustn't fall below a

minimum sampling ratio of tPH / tP=90%, i.e. the values mustn't fall below the
relation between the duration of the HIGH time (tPH) and the periodic time of
the test pulse (tP), because this can affect the availability of the axis.
This error does not affect the safety technology!
Error messages
This error is detected by the diagnostic unit of the safety technology. In case
an error is detected, an immediate error reaction (safe and functional output
stage switch-off and brake activation) is initiated.
Cause Remedy
Sampling ratio of dynamization pulses too low on one or on Check wiring of inputs and outputs and remove error
both selection channels
In the case of selection by active safety unit: Test pulse Replace safety unit
generation is inappropriate or defective
The error can be cleared by a selection and deselection

combination. However, remove the cause beforehand.

CiA error code: F0CD
8.2.46 F8301 Error when checking selection signals

The check during the selection/deselection of the safety functions showed

that the selection signals of channel 1 and channel 2 differed for more than 1
second.
In case a selection reaction error is detected, an immediate error reaction
(safe and functional output stage switch-off and brake activation) is initiated
after the error occurred once.
Cause Remedy
Error in wiring: Check wiring of selection and remove error.

● Loose connections or wire break Then switch power supply off and on again.
● Incorrect wiring of inputs and outputs
● Short circuit between both selection channels
● Short circuit between one or both selection channels
and 24 V or 0 V
Delay between selection channels exceeded during a Correct selection timing and then clear error by selecting
selection or deselection and deselecting the safety functions.
The acknowledge error message.
With active safety unit: Incorrect selection (inappropriate or Replace safety unit
incorrect selection)
Hardware defective Replace drive controller

CiA error code: F0CE
Error messages
8.2.47 F8302 Error when checking switch-off channels STO/SBC

The safety technology cyclically tests the switch-off channels for their
function. If an error is detected twice in the same function (STO or SBC) and
the same channel within 9 tests, an immediate error reaction is initiated (safe
and functional output stage switch-off and brake activation).
Cause Remedy
Holding brake has been parameterized in P-0-0525; there is Set P-0-0525, bit 2="0" (no holding brake available)
no holding brake available
Minimum current of brake has fallen below threshold value Please check:
● the brake connection
● the brake configuration
● the brake used
The switch-off signals are faulty, because the shielding of Check shielding of motor cable for damage.
the motor cable is defective Make sure that shielding of motor cable is directly connected
- or - to housing of respective drive controller (see also Project
the shielding of the motor cable has not been correctly Planning Manual, material number R911344988).
wired.
Error in switch-off channels STO or SBC Clear error by selecting and deselecting safety functions on
safety option. Then acknowledge error message.
If error occurs repeatedly, replace drive controller.

CiA error code: F0CF
8.2.48 F8303 System error STO/SBC

The diagnostic unit of the safety technology monitors its function. In case an
error is detected, an immediate error reaction (safe and functional output
stage switch-off and brake activation) is initiated.
Cause Remedy
Firmware update was carried out after drive controller had Switch power supply off and on again. Then repeat firmware
been in "AF" update
System error within diagnostic unit of safety technology (e.g. Switch power supply off and on again
watchdog) If error occurs repeatedly, replace drive controller

Error messages
8.2.49 F8304 SMO: System error

During the execution of the safety technology, monitoring determined a

serious exception error that prevents further operation.
1. Switch drive off and then on again.
2. If the error continues to be reported, save all of the parameters (see
Functional Description "Loading, Saving and Backing Up Parameters").
3. Contact our service department.
F8304 - Detailed diagnostics 005300A4
005300C8
005300C9
005300CA
005300CB
005300CC
005300CD
00530423
0053074F
005400A4
005400C8
005400C9
005400CA
005400CB
005400CC
005400CD
00540423
0054074F

Critical SMO error: –
8.2.50 F8313 SMO: Incorrect parameterization

During the first run-up after switching on the control voltage an error was
detected when checking the safety technology configuration parameters.
Cause Remedy
Configuration parameters not verified Verify parameters (list of unverified parameters: P-0-3233)
Configuration parameters outside of allowed value range 1. Check and correct value
2. Verify parameters (list of unverified parameters:
P-0-3233)

8.2.51 F8314 SMO: Incorrect configuration

Error messages
An error occurred during the first run-up after switching on the control
voltage. The SMO parameter mode was not reached.
Cause Remedy
When command C8200 is started, SMO is not in First, activate configuration mode (C8100) so that it can be
configuration mode, so command is not executed terminated
If the auxiliary function "Safe homing procedure" is used: Assign a value unequal zero to the "Safe homing procedure
The tolerance window for the Safe homing procedure tolerance window" (P-0-3253.0.4)
(P-0-3253.0.4) has been parameterized with "0"
Scaling: Make sure that the data reference is the same
The data reference for position, velocity and acceleration ● Position data: P-0-3222.0.1
data is not equally parameterized ● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
The scaling type for velocity and acceleration data is not Make sure that the scaling type is the same
equally parameterized ● Velocity data: P-0-3223.0.1
The scaling unit for position, velocity and acceleration data Make sure that the scaling unit is the same
is not equally parameterized (mixed inch/metric) ● Position data: P-0-3222.0.1
● Velocity data: P-0-3223.0.1
Scaling: Select an allowed data reference
The selection "Data reference at the motor shaft" - with load
encoder - is not allowed
Scaling: The rotation position resolution has to be entered as the
The rotation position resolution is not correct value 360 × 10Exp (Exp="0..7")
Signal control of outputs: Check the "discrete outputs":

The source IDN is not allowed Use an IDN from the list of possible source IDNs
- or - (P-0-3335.0.3)
The source bit is not allowed and/or

Use a bit from the list of possible source bits (P-0-3335.0.4)
Check the signal sources for the "safety bus status word":
Use an IDN from the list of possible source IDNs
(P-0-3336.0.3)
and/or
IO mapper inputs: One connection type is used too often.
The maximum possible number of instances of an IO Check the IO mapper block types (P-0-3330.x.1) and their
mapper block type has been exceeded respective maximum possible number of instances.
See also documentation "Integrated Safety Technology",
"Safe Motion" "Mapper block types".
IO mapper inputs: Make sure that a target IDN (P-0-3330.x.4) / a target bit
A target signal (target IDN / target bit) is used more than (P-0-3330.x.5) is used only once
once
Error messages
Cause Remedy
IO mapper inputs: Check the IO mapper block types (P-0-3330.x.1) and their
The target IDN is not allowed respective possible target IDNs.
IO mapper inputs: Check the mapper block types (P-0-3330.x.1) and their
The target bits are not allowed respective possible target bits.
IO mapper inputs: IO mapper block "Binary-to-bit decoder":
Input signals not in order Check the list of source IDNs (P-0-3330.x.2) for gaps.
IO mapper inputs: "Binary-to-bit decoder":
Only safety bus allowed Check the source IDN (in P-0-3330.x.2) for P-0-3340
IO mapper inputs: Check the IO mapper block types (P-0-3330.x.1).
The IO mapper block type is not allowed Only values from "0" to "7" are allowed.
IO mapper inputs: Use an IDN from the list of possible source IDNs
The source IDN is not allowed (P-0-3330.x.2)
IO mapper inputs: Check P-0-3330.x.2: The required inputs of the IO mapper

The list of source IDNs is incomplete block type have to be entered

8.2.52 F8315 SMO: Error in encoder initialization

When the drive controller is switched on, the following checks are made in
the initialization of the SMO encoder:
● Parameterization of the encoder
● Encoder signal test
● Test of the optional safety technology module
If one of the checks reveals an error, this command error is generated.
Cause Remedy
Encoder cable defective Check and, if necessary, replace encoder cable

Encoder defective Replace encoder
Hardware defective Replace device

Error messages
8.2.53 F8316 SMO: Incorrect change of system state

An error was detected with regard to an inactive SMO during the state
change between the "condition as supplied" and "functional commissioning".
The state change can take place with the following actions:
● While configuring functional commissioning (P-0-3201)
● After switching on the control voltage during the first run-up
● When activating the SMO
● When activating the parameter image (C8300)
The cause of the error can be read via the detailed diagnostics.
F8316 - Detailed diagnostics 005305C7
005405C7

8.2.54 F8319 SMO: INIT system error

When the safety technology was started, an error was detected that prevents
further operation.
1. Switch drive off and then on again.
2. If the error continues to be reported, save all of the parameters (see
Functional Description "Loading, Saving and Backing Up Parameters").
8.2.55 F8320 SMO: Invalid module/firmware combination

An inadmissible component/firmware combination is used, please contact the

customer service.
8.2.56 F8321 SMO: Invalid circuit board/firmware combination

Error messages
An inadmissible printed circuit board/firmware combination is used, please

contact the customer service.
8.2.57 F8323 SMO: Error in deactivation

An error occurred while deactivating the SMO.

The state "SMO_not_active" was not reached. The password level of the
SMO (P-0-3230) is maintained.
8.2.58 F8324 SMO: Error in activation

"Safe Motion" could not be activated.

"Safe Motion" can be activated by several actions.
If this error occurs, the detailed diagnostics usually provide

information on the error cause (see "Detailed diagnostics").
Cause Remedy
The control voltage was switched on. Check the password level (P-0-3230).
Although a valid safety technology password was detected, ● If P-0-3230="0", switch off the control voltage and then
the SMO parameter mode could not be activated. switch it back on.
If the error occurs repeatedly, please contact our
service department.
● If P-0-3230="2", please call "Error/diagnostic memory"
dialog in IndraWorks (axis context menu in the Project
Explorer: Diagnostics ▶ Error/diagnostic memory) and
remove the errors that occurred in the execution of the
command C8200.
The safety technology password was assigned for the first 1. Switch off the control voltage and then switch it back
time. on.
Although the password was valid, the safety technology 2. Assign a new valid safety technology password.
could not be activated.
(The safety technology password entered originally was
discarded.)
Error messages
Cause Remedy
An attempt was made to load a parameter image and an 1. Please call "Error/diagnostic memory" dialog in
error occurred in the process. IndraWorks (axis context menu in the Project Explorer:
Diagnostics ▶ Error/diagnostic memory).
2. If the error/diagnostic memory contains errors that
occurred when command C8300 was executed, repair
these errors.
3. In addition, make sure that the parameter image
originates from a pattern axis that was completely
commissioned and validated.
4. Load the parameter image again.
The control voltage was switched on and no valid safety Assign new password following the requirements for the
technology password was detected. safety technology password ("P-0-3230.0.1, SMO:
Password")
If the error occurs repeatedly, please contact our service department.

00540739

CiA error code: F0DA
8.2.59 F8330 SMO: Configuration data record has not been activated
During the initialization of the drive-integrated safety technology it was

determined that the saved SMO parameter image was changed.
Cause Remedy
A new parameter set with a changed SMO parameter image To continue to operate safety technology, activate changed
was loaded. parameter image as follows:
On the control panel, acknowledge the message "Load New
Safety?" by pressing the "Enter" key
- or -
Start the command "C8300 SMO: Command Activate
parameter image"

CiA error code: F0DB
8.2.60 F8350 Maximum transition time exceeded

Error messages
Safety technology, change in ope‐ In the transition to safety technology operating status "EMERGENCY STOP"
rating status or special mode "Safe standstill" using the safety function "Safe stop 1" (SS1)
in the "time priority format" (P-0-3280.0.1, bit 1="0"), the drive is not able to
reach standstill within the parameterized maximum transition time.
Safety technology, change in operating status
Cause Remedy
Parameterization for transition time for NC-controlled Check parameterization of transition time from normal
transition from normal operation into special mode "Safe operation into special mode "Safe standstill" (P-0-3280.0.2)
stand still" is too low. and correct accordingly
Parameterization for transition time for NC-controlled Check parameterization of transition time between safe
transition from special mode into another special mode is operating states (P-0-3280.0.3) and correct accordingly
too low.
Drive enable is still set Make sure that drive enable is removed
In "SS1 time prioritized" with deceleration monitoring ● For drive-controlled transition, stopping process takes
(P-0-3280.0.1, bit 1="0" and bit 2="1"), parameterized place via "P-0-0119, Best possible deceleration" so
deceleration is too low and/or is not adjusted for that error reaction parameterized in drive has to be
parameterized tolerance time. checked.
● For NC-controlled transition, check deceleration
parameterized in control unit
"NC-controlled stopping process" was activated by mistake Check configuration of operation mode transitions and
correct accordingly (P-0-3280.0.1); i. e. activate "drive-
controlled standstill"
F7 error reaction In the transition to "Safe standstill error" the drive is not able to reach
standstill within the parameterized maximum transition time; F8350 is a
resulting error from error F7050.
F7 error reaction
Cause Remedy
Parameterization of tolerance time for reaction to F7 error is Check tolerance time for reaction to F7 error and correct
too low accordingly (P-0-3263.0.7)
Parameterized deceleration is too low or not adjusted to For drive-controlled transition, stopping process takes place
parameterized tolerance time via "P-0-0119, Best possible deceleration" so that error
reaction parameterized in drive has to be checked.
See also documentation "Integrated Safety Technology"

CiA error code: F0DC
8.2.61 F8351 Safely-monitored deceleration exceeded

In the transition into "Safe standstill error" (SMD-E), the drive is not able to
reach standstill at the parameterized deceleration.
Error messages
The error is generated by the safety function "Safely-monitored deceleration"

(SMD) during monitoring of the F7 error reaction if the current actual velocity
of the drive is not within the parameterized veloc. envelope curve.
Cause Remedy
If "drive reaction to errors of category F7" is set, deceleration ● Check parameterization of drive deceleration
caused by drive is insufficient (P-0-0119)
● Check torque limit (P-0-0109)
Current actual velocity is exceeded when F7 error occurs ● Check controller settings and adjust if necessary
during acceleration procedures ● Check parameterization of P-0-3263.0.2 and
P-0-3263.0.3
Current actual velocity is exceed when velocity window ● Check controller settings and adjust if necessary
SMD-E is reached ● Check parameterization of P-0-3280.0.4
Incorrect parameterization Check parameter settings and change them, if necessary:
● P-0-3263.0.2
● P-0-3263.0.3
● P-0-3263.0.4
● P-0-3263.0.5
● P-0-3263.0.7

00540018

CiA error code: F0DD
8.2.62 F8352 Drive enable set in STO

Cause Remedy
Drive enable was set while safety function "Safe torque off Go to normal operation before setting drive enable
(STO)" was active - or -
control - or -

CiA error code: F0DE
8.2.63 F8353 SBC system error

Error messages
The correct functioning of the interrupting circuit is cyclically checked to lock

the brake in a safe way when the safety technology has detected an error.
This is done on the one hand during the actions "release brake" / "lock
brake", on the other hand statically while the brake drivers are being enabled
or locked. The corresponding hardware implementation ensures that this is
possible without impacting the brake state.
An error was detected when the brake had been locked or when the brake
drivers of the safety function "Safe Brake Control (SBC)" had been cyclically
checked.
Cause Remedy
An error was detected during check of interrupting circuit Check brake wiring for short circuit or wire break
If brake wiring is error-free:
Start command "S-0-0099, C0500 Reset class 1
diagnostics" to clear the error and then set drive enable
again.
Safety function "Safe Brake Control (SBC)" was configured Deselect "Safe Brake Control (SBC)" configuration in
although no brake has been connected P-0-3265.0.1
If a HAT02 control module has been connected to a control Make sure to use a control section of the Cxx02.1 type that
section of the Cxx02.1 type: was manufactured in production week 14W39 or later (see
Maybe control section was manufactured before production type plate, field 6)
week 14W39, it is not suited for use in conjunction with
HAT02 control module

CiA error code: F0DF
8.2.64 F8354 Error when checking interrupting circuits

In order to lock the output stage in a safe way when the safety technology
has detected an error, the correct functioning of the interrupting circuit is
cyclically checked. This is done on the one hand during the actions "release
output stage" and "lock output stage", on the other hand statically while the
output stage is being enabled or locked. The corresponding hardware
realization ensures that this is possible without repercussion on the PWM
control signals.
An error was detected while locking the output stage or in the cyclic check of
the output stage lock of the safety function "Safe torque off (STO)".
Safety is not acknowledged; i. e. in "P-0-3237", bit 0="0".
Cause Remedy
An error was detected during check of interrupting circuit Start command "S-0-0099, C0500 Reset class 1
diagnostics" in order to clear error and then set drive enable
again.
Error messages

CiA error code: F0E0
8.2.65 F8355 Incorrect processing of diagnostic message

In the processing of safety technology errors, an undefined state has

occurred.
1. Save all of the parameters (see Functional Description "Loading, Saving
and Backing Up Parameters").
3. Eliminate the causes of the additional reported errors.
4. Then execute the command "C0500 Reset class 1 diagnostics, error
reset".
8.2.66 F8356 SMO: Incorrect parameter processing

In the processing of safety technology parameters, an undefined state has

occurred.
3. Eliminate the causes of the additional reported errors.
4. Switch the drive into SMO configuration mode (C8100) and then
execute the command "C0500 Reset class 1 diagnostics, error reset".
8.2.67 F8359 SMO: Encoder evaluation error

The signals of the measuring system are monitored on hardware and

software level with regard to their amplitudes and signal shape. If a signal
(e.g., sin or cos) leaves the thresholds, the warning E2075 is generated.
In addition, the actual position values calculated by the encoder evaluation
and the generated status are monitored. If the difference of the actual
position values generated by channel 1 and channel 2 exceed the monitored
threshold or if the generated actual velocity value cannot be displayed or if
Error messages
channel 1 and channel 2 report different status information, error F8359 is

generated.
Cause Remedy
necessary
Measuring system defective Check measuring system and replace it, if necessary
Channel 1 and channel 2 provide different data Restart drive

8.2.68 F8395 SMO: Drive system configuration error

Cause Remedy
A non-supported performance setting was made for the Check the parameters "P-0-0556, Config word of axis
drive controller" (bit 2 and bit 5) and "P-0-0001, Switching
frequency of the power output stage"
An inadmissible hardware configuration is used Please contact our service department

8.2.69 F8813 Connection error mains choke

A wiring error on the mains choke was identified after the power supply was
connected.
Cause Remedy
The mains choke is connected incorrectly (e.g. incorrect Check and correct the connection of the mains choke; the
rotational direction of the mains phases) connections to the mains choke must be as short as
possible and twisted

Error messages
8.2.70 F8815 Overvoltage in mains

Cause Remedy
The mains voltage crest value has risen above the Check the mains voltage (connection voltage range, see
permissible maximum value. documentation "Rexroth IndraDrive ML, drive systems with
HMU05").
Use an impedance matching transformer where necessary

8.2.71 F8817 Overvoltage in power section

The DC bus voltage is monitored. The error is triggered when the maximum
value is exceeded.
Cause Remedy
The energy fed back into the DC bus by the machine Reduce the feedback power through lower acceleration
mechanics during braking was so high that it could not be values
dissipated by the supply unit within the feed back time. This - or -
caused the DC bus voltage to rise to an impermissible value
Correct drive design
- or -
Ensure that the supply unit has adequate dimensions with
regard to braking energy requirements; if the dimensions of
the braking resistor are not adequate, use additional braking
resistor where necessary
The mains supply voltage (input alternating voltage) is too Check the input alternating voltage (alternating voltage/3-
high phase)
No braking resistor (HLR) / braking unit (HLT) connected or Connect braking resistor (HLR) / braking unit (HLT) or check
connection or cable faulty connection
F8xxx error at high speeds (field weakening area) on a Check whether the braking resistor value in the DC bus
synchronous motor exceeds the maximum permissible value for the motor;
reduce the braking resistor value to or below the permissible
value if necessary
The parameterization of the supply unit is incorrect, e.g. Check parameterization
● feedback deactivated
● Current limit value too low
● …

Error messages
8.2.72 F8820 Braking resistor overload

The power was switched off due to potential overload of the braking resistor.
If the DC bus voltage exceeds the current switch-on threshold of the braking
resistor ("P-0-0833, Braking resistor threshold") following generator-based
operation, the braking resistor is switched on to limit the DC bus voltage. The
load of the braking resistor is shown in "P-0-0844, Thermal load of braking
resistor". If the load of the braking resistor increases to 110%, the error
F8820 is shown.
The error can only be cleared when its cause has been removed.
Once the cause of the error has been removed, the braking
resistor must be checked for functionality!
Cause Remedy
The mains contactor was opened so that the fed back Only switch off the mains contactor if the supplied axes are
energy of the supplied axes had to be absorbed by the not in operation.
braking resistor. The energy absorption capacity of the
braking resistor is exhausted.
The release of the power supply was switched off, even Only switch off the power supply when the axes are at a
though the supplied axes were still active, so that the fed standstill.
back energy of the supplied axes had to be absorbed by the
braking resistor. The energy absorption capacity of the
braking resistor is exhausted.
The permissible delay of the connected drives is too high. Reduce the delay of the connected drives.
Switch the additional capacities in the DC bus to enable the
fed back energy to be saved.
The rotary drive energy is too high. Reduce the maximum speed or check the dimensions of the
supply module and increase the dimensions of the supply
module if necessary.
See also functional description of firmware "Power supply".

8.2.73 F8821 Transistor short circuit of braking resistor control

The braking resistor is switched on, but was not operated.
Cause Remedy
Faulty braking transistor ⇒ device faulty Replace device

Error messages
8.2.74 F8830 Power section error

Contained in 19VRS: «MPB» «-» «-» «MPC» «-»
Cause Remedy
Hardware error in power section Switch device off and then on again.
If error occurs repeatedly, replace device

8.2.75 F8833 Ground fault current (does not decay)

Drive controller The total current of the three motor phases is not equal to "0". A ground fault
was then detected in the motor wire by the drive controller. After the output
stage is switched off, the ground fault current does not decay or only decays
slowly.
Cause Remedy
Ground fault in a motor wire Check the insulation of the motor cable with a measuring
device and remove the ground fault. If the motor cable is not
faulty, there is an error on the device or a connection
Ground fault in a controller of the drive system Replace device
Supply unit The total current of the three motor phases is not equal to "0". A ground fault
was then detected in the DC bus line by the supply unit. After the output
stage is switched off, the ground fault current does not decay or only decays
slowly.
Cause Remedy
Ground fault in a DC bus line Check the insulation of the DC bus line with a measuring
device. If the DC bus cable is not faulty, there is an error on
the device or a connection

8.2.76 F8835 Inconsistency in power section configuration

Error messages
Cause Remedy
The configuration of the drive saved in the master power Execute command C9100 to confirm the configuration; then
section has changed, e.g. restart device
● Number of slave power sections
● Configuration between power supply and drive
The number of power sections connected in parallel and Execute command C9100 to confirm the configuration; then
saved in the master power section has changed restart device
Power sections with different DC bus continuous output / Only connect identical power sections in parallel
maximum current are connected in parallel
The optional cards HPC01 are not recognised Dismantle the optional cards HPC01 and install them again
to remove contact problems
- or -
Replace optional cards HPC01
- or -
Replace the power section
with HMU05")
During power supply configuration: Check the communication connection of the HNA bus
The mains connection module is not recognised between the optional card HPC01 (XG32) and the mains
connection module HNA (XG32); replace cable if necessary
- or -
Replace optional cards HPC01
- or -
Replace the mains connection module HNA
with HMU05")
Basic device parameters are incorrect Contact our service department; the device may have to be
replaced if necessary

8.2.77 F8836 DC bus balancing monitor

Cause Remedy
Asymmetry of the internal DC bus capacities was identified Switch the device off and on.
If the error still occurs, replace the device
Devices of "KMV" type: Please contact the customer
service, the internal device fuse is possibly defective and
has to be replaced.
Error messages

8.2.78 F8838 Overcurrent external braking resistor

The error F8838 is generated when the current in the braking resistor circuit
is rising in an inadmissible way.
Cause Remedy
Resistance value of connected braking resistor is too low. Connect braking resistor unit with higher resistance value
(take specification into account!).
Short circuit at braking resistor connection. Remove short circuit
See also Functional Description of firmware " Power Supply".

8.2.79 F8860 Overcurrent in power section (does not decay)

The motor / mains current is monitored by the power section. If the current
rises to over 1.3 - 1.5 times the device peak current, the power transistors are
switched off. After the output stage is switched off, the over-current does not
decay or only decays slowly.
Error messages
Cause Remedy
Incorrect current controller parameterization Check the current controller parameterization and correct
following consultation with customer service:
● "S-0-0106, Current loop proportional gain 1",
"S-0-0107, Current loop integral action time 1"
See application description for firmware "MPx":
"Current controller"
and/or
● "S-0-1708.0.11, Mains current controller proportional
gain", "S-0-1708.0.12, Mains current controller integral
action time"
See application description for firmware "PSB": "Mains
current control"
For motors from Bosch Rexroth with encoder data memory, Check whether the values in "S-0-0106, Current loop
the values for current controller parameterization do not proportional gain 1" and "S-0-0107, Current loop integral
correspond to the values in the encoder data memory action time 1" correspond to the values in the encoder data
memory ("P-0-2106, Current loop proportional gain 1, type
plate" and "P-0-2107, Current loop integral action time 1,
type plate")
Notice: The calculation of "S-0-0106, Current loop
proportional gain 1" is dependent on "P-0-0001, Switching
frequency of the power output stage" and "P-0-0556, Axis
controller control word"!
For motors from Bosch Rexroth without encoder data Check whether the values in "S-0-0106, Current loop
memory, the values for current controller parameterization proportional gain 1" and "S-0-0107, Current loop integral
do not correspond to the manufacturer specifications action time 1" correspond to the manufacturer specifications
For motors from third-party manufacturers, the output data Check whether the output data for calculating the parameter
for calculating the parameter values is not correct values is correct
Inverter: short-circuit between the motor phases Check the impedance between the motor phases
Check for short-circuits on the cable and connections
Supply unit: short circuit in the DC bus Check for short-circuit between L+ and L- and remove if
possible or replace damaged components
Device defective Replace device
If the error occurs repeatedly, please contact our service department.

8.2.80 F8899 Fatal error in power section

Collective message for fatal power section errors, which are transmitted by
the power section and result in the immediate switch-off of the mains
contactor.
The diagnostic number transmitted by the power section is entered in the log
book.
Error messages
Cause Remedy
section

8.3 Safety technology errors (F7xxx)

8.3.1 Behavior in Case of Safety Technology Errors
The user can define the behavior of the drive when safety technology errors
occur (F7xxx) with the setting in "P-0-3263.0.1, SMO: Configuration of
stopping process".
● The device setting ("P-0-3263.0.1, SMO: Configuration of

stopping process" and "P-0-0119, Best possible
deceleration" must be plausible with regard to each other.
● NC- or MLD-controlled stopping process is not possible in
the case of safety technology errors.
If the F7 error reaction is complete after the time period entered in

"P-0-3263.0.7, SMO: Error reaction F7 tolerance time" has expired, then the
drive goes torque-free and the output stage is locked via two channels.
If the F7 error reaction is not complete after the time period entered in
"P-0-3263.0.7, SMO: Error reaction F7 tolerance time" has expired, then the
error message "F8350 Timeout standstill" is generated. As soon as the axis
stops and the error reaction is complete, the axis acknowledges safety.
The F7 error reaction "torque disable" should only be used when

forced deceleration by a velocity command value reset generally
causes problems, e.g. in case of mechanically coupled axes.
The machine manufacturer is responsible for the F7 error reaction
"torque disable" and his risk analysis has to show this
responsibility.
Commissioning Steps After a safety technology error (F7xxx) has occurred, the drive can only be
put into operation again when:
1. The actual cause of the error was recognized and removed (e.g.
incorrect parameterization of velocity thresholds or time windows).
2. The error message was cleared by the error clearing command (cf.
"S-0-0099, C0500 Reset class 1 diagnostics").
3. The drive is in the operating mode again and power was switched on
again ("Ab").
4. Drive enable was switched on again (0-1 edge).
In case safety technology errors are occurring repeatedly, contact

our service department as operating the drive then is no longer
allowed.
Error messages
8.3.2 F7009 Homing velocity exceeded

The velocity feedback value has exceeded the maximum homing velocity.
The maximum homing velocity is monitored, because "Safe homing
procedure" was activated, but the "Safe reference" is missing.
Cause Remedy
Safe homing procedure is active (P-0-3253.0.1) and the Make sure the velocity feedback value (P-0-3258) is smaller
status of the SMO encoder position feedback value is than "P-0-3253.0.5 SMO: Maximum homing velocity" until
"relative" (P-0-3256). the status for the "Safe reference" (P-0-3256) has been set.
The velocity feedback value (P-0-3258) has exceeded the - or -
maximum homing velocity (P-0-3253.0.5) in this state. Check whether "Safe homing procedure" is actually
required; this is the case if, e.g., safety functions of the safe
absolute positions are used (SLP, SLE, SMP, SCA). Change
the parameterization of P-0-3253.0.1, if "Safe homing
procedure" is not required.

005306EF
005406C9
005406EF

8.3.3 F7010 Safely-limited increment exceeded

In the special mode "safe motion" with configured safety function "Safely-
limited increment", the monitoring function makes sure that the values do not
leave the parameterized position window (increment).
The bipolar position window is activated with the start of the special mode.
For the duration of the special mode, the drive can freely move within the
limits of the position window.
Error messages
Cause Remedy
At least one of the position windows relevant for special Check parameterization of position windows and adjust it to
mode "safe motion" has been incorrectly parameterized desired travel targets.
Position window:
● "P-0-3290.1.3, SMO: Safety-limited increment 1" or
● "P-0-3290.2.3, SMO: Safety-limited increment 2" or
● ...
● "P-0-3290.16.3, SMO: Safely-limited increment 16"
After troubleshooting, start command "S-0-0099, C0500
Reset class 1 diagnostics" in order to clear error an then set
drive enable again
Command value input is incorrect; i.e. drive moves to invalid Check command value input in control unit and adjust target
target positions positions according to travel range or required target
positions.
After troubleshooting, start command "S-0-0099, C0500
Reset class 1 diagnostics" in order to clear error an then set
drive enable again

F7010 - Detailed diagnostics 0053000D
0054000D

CiA error code: F0BB
8.3.4 F7011 SMP, SLP: Safe position limit value, positive exceeded
Cause Remedy
With active safety function "Safely-monitored position (SMP)" or "Safely-limited position (SLP)"
The allowed positive absolute position limit was exceeded. Check command value input and adjust it in accordance with
the value parameterized in "P-0-3290.x.4, SMO: Position
limit value, positive"
- or -
Check whether the positive position limit has been
parameterized correctly (P-0-3290.x.4).
The actual position of the drive is outside of the allowed 1. Start command "S-0-0099, C0500 Reset class 1
positive absolute position limit and the drive moved at a diagnostics" to clear the error.
velocity greater than "P-0-3253.0.5, SMO: Max. homing 2. Set drive enable again.
velocity".
3. When moving back to the allowed position range,
- or - make sure the drive moves at a velocity smaller than
The actual position of the drive is outside of the allowed "P-0-3253.0.5, SMO: Max. homing velocity" and does
positive absolute position limit. When moving back to the not leave the parameterized standstill window
allowed position range, the drive kept moving in the positive (P-0-3270.0.3).
direction by a distance greater than parameterized in
"P-0-3270.0.3, SMO: Standstill window for safe direction".
Error messages
Cause Remedy
Only with active safety function "Safely-limited position (SLP)"
The drive was moved in the direction of the positive position In the case of movements in the direction of the positive
limit with a velocity at which the deceleration capacity no position limit, reduce the drive velocity so that the
longer suffices for the drive to come to standstill within the deceleration capacity suffices for the drive to come to
positive position limit. standstill within the positive position limit.
- or -
Check whether the positive position limit has been

CiA error code: F0BC
8.3.5 F7012 SMP, SLP: Safe position limit value, negative exceeded
Cause Remedy
With active safety function "Safely-monitored position (SMP)" or "Safely-limited position (SLP)"
The allowed negative absolute position limit was exceeded. Check command value input and adjust it in accordance with
the value parameterized in "P-0-3290.x.5, SMO: Position
limit value, negative"
- or -
Check whether the negative position limit has been
The actual position of the drive is outside of the allowed 1. Start command "S-0-0099, C0500 Reset class 1
negative absolute position limit and the drive moved at a diagnostics" to clear the error.
velocity greater than "P-0-3253.0.5, SMO: Max. homing 2. Set drive enable again.
velocity Max. Homing velocity".
3. When moving back to the allowed position range,
- or - make sure the drive moves at a velocity smaller than
The actual position of the drive is outside of the allowed "P-0-3253.0.5, SMO: Max. homing velocity" and does
negative absolute position limit. When moving back to the not leave the parameterized standstill window
allowed position range, the drive kept moving in the negative (P-0-3270.0.3).
direction by a distance greater than parameterized in
"P-0-3270.0.3, SMO: Standstill window for safe direction".
Only with active safety function "Safely-limited position (SLP)"
The drive was moved in the direction of the negative position In the case of movements in the direction of the negative
limit with a velocity at which the deceleration capacity no position limit, reduce the drive velocity so that the
longer suffices for the drive to come to standstill within the deceleration capacity suffices for the drive to come to
negative position limit. standstill within the negative position limit.
- or -
Check whether negative position limit has been

CiA error code: F0BD
Error messages
8.3.6 F7013 Velocity threshold exceeded

In the special mode "safe motion", a parameterized velocity threshold was

exceeded.
Cause Remedy
In special mode "safe motion", velocity threshold Check command value input and adjust it according to
parameterized in parameter setting
● P-0-3290.1.2, SMO: Safely-limited speed 1 - or -
or Check parameter setting and change it, if necessary.
● P-0-3290.2.2, SMO: Safely-limited speed 2 Afterwards start command "S-0-0099, C0500 Reset class 1
or diagnostics" in order to clear error and then set drive enable
again
● ...
● P-0-3290.16.2, SMO: Safely-limited speed 16
was exceeded
F7013 - Detailed diagnostics 0053000E

0054000E

CiA error code: F0BE
8.3.7 F7014 Timeout in safely-monitored transient oscillation

In the special mode "Safe motion" with configured safety function "Safely-
monitored transient oscillation" monitoring takes place so that the
parameterized velocity limit is not exceeded for a longer period than the
parameterized time period
Cause Remedy
In the special mode "Safe motion" (with active safety Check command value input and adjust it according to
function "Safely-monitored transient oscillation") the parameter setting
"Safely-reduced speed" (P-0-3290.x.8) was exceeded for - or -
longer than the tolerance time period (P-0-3290.x.7)
Check parameter setting and change it, if necessary.
Afterwards start command "S-0-0099, C0500 Reset class 1
diagnostics" in order to clear error and then set drive enable
again
F7014 - Detailed diagnostics 0053000F

0054000F

CiA error code: F0BF
Error messages
8.3.8 F7015 SMO: Cross data comparison error

Cause Remedy
The cyclic CSos stack processing is not active in a safety Restart drive by switching off the control voltage and then
technology channel. switching it back on.
Please contact our service department, if error occurs again
in spite of the drive being restarted.

8.3.9 F7020 Safe maximum speed exceeded

When monitoring of the safe maximum speed has been configured (see
"P-0-3270.0.1"), the drive in normal operation and in special mode monitors
the current actual velocity.
When the velocity threshold parameterized in "P-0-3270.0.2" is exceeded,
the error F7020 is generated.
Cause Remedy
Velocity threshold was incorrectly parameterized Check and, if necessary, increase parameter setting of
"P-0-3270.0.2"
Incorrect command value input; i.e. velocity command value Check command value input in control unit or, for drive-
too high internal interpolation, check parameterized positioning data
(cf. "S-0-0259, Positioning velocity" or "P-0-4007,
Positioning block velocity")
Description of error reaction: "Behavior in Case of Safety Technology Errors"

00540010

CiA error code: F0C0
8.3.10 F7023 SLE: Safe position limit value, positive exceeded

In normal operation or in normal operation and special mode (depending on

the setting in P-0-3270.0.1 or P-0-3277.0.1) with configured safety function
"Safely-limited end position (SLE)", the parameterized position limit value had
already been exceeded in positive direction, or the axis was on the point of
exceeding the position limit value.
Error messages
Cause Remedy
The drive was moved in the direction of the positive position Check whether the value in "P-0-3270.0.4, SMO: Safe end
limit with a velocity at which the deceleration capacity no position limit value, positive" has been parameterized
longer suffices for the drive to come to standstill within the correctly. ATTENTION: If the value is increased, make sure
positive position limit. this does not cause damage to machines or personal injury!
- or -
In the case of movements in the direction of the positive
position limit, reduce the drive velocity so that the
deceleration capacity suffices for the drive to come to
standstill within the positive position limit.
The allowed positive absolute position limit was exceeded Check command value input and adjust it in accordance with
the value parameterized in "P-0-3270.0.4, SMO: Safe end
position limit value, positive".
- or -
Check whether the value in "P-0-3270.0.4, SMO: Safe end
position limit value, positive" has been parameterized
correctly.
The actual position of the drive is outside of the allowed When moving back to the allowed position range, make sure
positive absolute position limit and the drive moved at a the drive moves at a velocity smaller than "P-0-3253.0.5,
velocity greater than "P-0-3253.0.5, SMO: Max. homing SMO: Max. homing velocity" and does not leave the
velocity". standstill window parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction".
The actual position of the drive is outside of the allowed Check whether the value in "P-0-3270.0.3, SMO: Standstill
positive absolute position limit. When moving back to the window for safe direction" has been parameterized correctly.
allowed position range, the drive kept moving in the positive ATTENTION: If the value is increased, make sure this does
direction by a distance greater than parameterized in not cause damage to machines or personal injury!
"P-0-3270.0.3, SMO: Standstill window for safe direction". - or -
When moving back to the allowed position range, make sure
the drive moves at a velocity smaller than "P-0-3253.0.5,
SMO: Max. homing velocity" and does not leave the
standstill window parameterized in "P-0-3270.0.3, SMO:
F7023 - Detailed diagnostics 005306DA

005306DC
005306DE
005306E0
005406DA
005406DC
005406DE
005406E0

8.3.11 F7024 SLE: Safe position limit value, negative exceeded

In normal operation or in normal operation and special mode (depending on

the setting in P-0-3270.0.1 or P-0-3277.0.1) with configured safety function
"Safely-limited end position (SLE)", the parameterized position limit value had
already been exceeded in negative direction, or the axis was on the point of
exceeding the position limit value.
Error messages
Cause Remedy
The drive was moved in the direction of the negative position Check whether the value in "P-0-3270.0.5, SMO: Safe end
limit with a velocity at which the deceleration capacity no position limit value, negative" has been parameterized
longer suffices for the drive to come to standstill within the correctly. ATTENTION: If the value is increased, make sure
negative position limit. this does not cause damage to machines or personal injury!
- or -
In the case of movements in the direction of the negative
position limit, reduce the drive velocity so that the
deceleration capacity suffices for the drive to come to
standstill within the negative position limit.
The allowed negative absolute position limit was exceeded Check command value input and adjust it in accordance with
the value parameterized in "P-0-3270.0.5, SMO: Safe end
position limit value, negative".
- or -
Check whether the value in "P-0-3270.0.5, SMO: Safe end
position limit value, negative" has been parameterized
correctly.
The actual position of the drive is outside of the allowed When moving back to the allowed position range, make sure
negative absolute position limit and the drive moved at a the drive moves at a velocity smaller than "P-0-3253.0.5,
velocity greater than "P-0-3253.0.5, SMO: Max. homing SMO: Max. homing velocity" and does not leave the
velocity". standstill window parameterized in "P-0-3270.0.3, SMO:
The actual position of the drive is outside of the allowed Check whether the value in "P-0-3270.0.3, SMO:
negative absolute position limit. When moving back to the Stillstandsfenster sichere Bewegungsrichtung" has been
allowed position range, the drive kept moving in the negative parameterized correctly. ATTENTION: If the value is
direction by a distance greater than parameterized in increased, make sure this does not cause damage to
"P-0-3270.0.3, SMO: Standstill window for safe direction". machines or personal injury!
- or -
When moving back to the allowed position range, make sure
the drive moves at a velocity smaller than "P-0-3253.0.5,
SMO: Max. homing velocity" and does not leave the
standstill window parameterized in "P-0-3270.0.3, SMO:
F7024 - Detailed diagnostics 005306DB

005306DD
005306DF
005306E1
005406DB
005406DD
005406DF
005406E1

8.3.12 F7030 Position window for safe operating stop exceeded

In the safety function "Safe operational stop" the axis is monitored for
standstill. The bipolar pos. window use for this is activated when the safe
operational stop starts.
Error messages
Cause Remedy
"P-0-3285.0.2, SMO: Parameterization of monitoring window Change parameterization of "P-0-3285.0.2, SMO: Monitoring
for safe operational stop" is wrong. window for safe operational stop " appropriately
Incorrect command values are preset by drive or external Check command value input and adjust it according to
control unit parameter setting

00540011

8.3.13 F7031 Incorrect direction of motion

While safety function "Safe direction" is executed, the drive is monitored with
regard to whether it inadmissibly moves against the parameterized direction
of motion by more than the distance parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction of motion". If yes, error F7031 is
generated.
Cause Remedy
Incorrect command value input Adjust command value input according to parameterized
direction of motion and monitoring window "P-0-3270.0.3,
SMO: Standstill window for safe direction of motion"
Incorrect parameterization of direction of motion Check parameter setting for direction of motion and change
it, if necessary.
● "P-0-3270.0.1, Configuration of global safety
technology functions"
or
● "P-0-3290.1.1, Configuration of safe motion 1"
or
or
● ....
or
Faulty parameterization of "P-0-3270.0.3, SMO: Standstill Check for faulty parameterization of "P-0-3270.0.3, SMO:
window for safe direction of motion" Standstill window for safe direction of motion" and change, if
necessary

00530013
00540012
00540013
Error messages

8.3.14 F7032 Forced zone safety

Diagnostics name of MPx-18V06: "Safety zone error".
An error was detected in the safety zone.

If the zone master signals this error, then it locks normal operation via the
zone bus; i. e. all zone nodes are kept in a safe state or are transitioned into
a safe state by the drive reaction to error F7032.
The cause of the error can be read via the detailed diagnostics of
the zone master.
Cause Remedy
The zone node in normal operation receives the signal Switch zone master into error-free state
"Normal operation locked" (see P-0-3266.0.1) via the zone
bus

00540093

8.3.15 F7033 Safety zone module: Hardware error

The safety zone module signals an error in the hardware.
Cause Remedy
Error in the hardware (e.g., internal control voltage) Check wiring

Error in the logic/time-related program run monitoring Restart the safety zone module by switching off the control
- or - voltage of the safety zone module and then switching it back
on (if required, pull the connector at X44).
An error was detected during the CRC check of the firmware
If the error occurs repeatedly, please contact our customer
service
Zone bus communication could not be enabled since the
Check the zone bus connections
control voltage was turned on
Wrong zone master / zone node configuration of the axes Correct configuration
(last axis not zone master) - or -
Correct zone bus wiring with regard to order of axes
Error messages
See also the detailed diagnostics of the zone nodes.

00540475

8.3.16 F7034 Safety zone module: SDL error

The safety zone module signals an error in the safety door control/safety door
feedback.
Error reaction If this error occurs, the safety zone module switches off the outputs "DYN",
"SZA", "SZE" and "SDL".
The zone master locks normal operation via the zone bus; i.e. all zone nodes
are kept in the safe state or are transitioned into the safe state by the drive
reaction to error F7032.
Cause Remedy
Short circuit in channel 1 or channel 2

Thermal overload in channel 1 or channel 2
Check wiring
"stuck at high" or no test pulse
Incorrect signal "Enabling of normal operation"
See also detailed diagnostics.

See also description of "safety zone module" (Project Planning Manual,
"Rexroth IndraDrive Additional Components and Accessories")
8.3.17 F7035 Zone bus error

Diagnostics name for MPx-18V06: "Safety zone module: Zone

bus error".
In connection with the telegrams and signals from the "HSZ" safety zone
module, errors were detected.
Subsequently, the 16 input signals as well as the signals for "zone errors",
"zone acknowledgement" and "safe door locking" are internally set to fail-safe
values.
Error messages
Cause Remedy
No node was configured as a zone master in the safety zone Configure last zone node in ring as zone master
(P-0-3266.0.2)
Last axis before the safety zone module was not configured Check and correct configuration (P-0-3266.0.2)
as a zone master
Multiple zone masters were configured in the safety zone
Zone bus output and input were directly connected at zone Establish correct zone bus connections
node
Connection from safety zone module to first zone node is
missing
A zone node1) has been disconnected from the zone bus
A zone node1) has no control voltage Switch on control voltage at the respective zone node1)
A zone node1) is in SCM configuration mode Exit configuration mode (command C8200)
The safety function "Safety zone acknowledgement" (SZA) Configure safety function "Safety zone acknowledgement"
is not active in a zone node1) (SZA) in the zone node (P-0-3266.0.2)
An axis1) is independent regarding safety (not a zone node), Remove the axis from the safety zone (pull the connectors
but connected to the safety zone at X42 and X43)
The safety technology is not active at a zone node1) Carry out initial commissioning
1) Several axes/zone nodes may be concerned
Up to and including MPx-18V12, this error had not been rated a

critical SMO error; i.e. the drive acknowledged safety when F7035
occurred.

00530480
00530526
00530527
00530528
00530529
0053311D
0054047D
00540480
00540526
00540527
00540528
00540529
0054311D

8.3.18 F7050 Maximum transition time exceeded

In the transition to a safe state the drive is not able to reach the new target
velocity/standstill within the parameterized maximum transition time.
Error messages
The drive can also be shut down in an NC-controlled way (cf.

"P-0-3280.0.1, SMO: Configuration of operation mode
transitions").
Safety technology, change in ope‐ After respective transition time has expired, depending on the selected safety
rating status technology operating status, the following checks are made:
Active operating status Selected operating Relevant parameters Actual velocity below the Drive enable
status parameterized threshold? deleted?
NO EMERGENCY STOP/ P-0-3280.0.2 P-0-3255

«✓»
SMST1
SMST2 P-0-3280.0.2 P-0-3255 «–»
SMMx*1) P-0-3280.0.4 P-0-3290.x.2*1) «–»
SMMx*1) SMMx*1) P-0-3280.0.3 P-0-3290.x.2*1) «–»
EMERGENCY STOP/ P-0-3280.0.3 P-0-3255

«✓»
SMST1
SMST2 P-0-3280.0.3 P-0-3255 «–»
SMST2 EMERGENCY STOP/ P-0-3280.0.3 P-0-3255
«✓»
SMST1
*1): "x"=1...16
P-0-3280.0.2, SMO: Max. transition time normal oper. to safe
standstill
P-0-3280.0.3, SMO: Max. transition time between safe ope‐
rating states
P-0-3280.0.4, SMO: Max. transition time normal oper. to safe
motion
P-0-3255, SMO: Velocity threshold for safe standstill
P-0-3290.x.2, SMO: Safely-limited speed
Cause Remedy
Parameterization of the maximum transition time from Check parameterization of P-0-3280.0.2 and correct
normal operation to special mode "Safe standstill" is too low accordingly
special mode to another special mode is too low accordingly
normal operation to special mode "Safe motion" is too low accordingly
Parameterization of the velocity threshold for safe standstill Check parameterization of P-0-3255 and correct accordingly
is too low
Parameterization of safety-limited speed is too low Check parameterization of P-0-3290.x.2 and correct
accordingly
Error messages
Cause Remedy
"NC-controlled stopping process" was activated by mistake Check configuration of operation mode transitions and
correct accordingly (P-0-3280.0.1); i. e. activate "drive-
controlled standstill"
Parameterized deceleration is too low or not adjusted to ● For drive-controlled transition, stopping process takes
parameterized tolerance time place via "P-0-0119, Best possible deceleration" so
that error reaction parameterized in drive has to be
checked.
● For NC-controlled transition, check deceleration
parameterized in control unit
F3 error reaction After the tolerance time for the F3 error reaction has expired, the following
checks are made:
Active operating status Selected operating Relevant parameters Actual velocity below the Drive enable
status parameterized threshold? deleted?
NO, SMST2, SMMx*1) Error state P-0-3263.0.6 P-0-3255 «✓»
*1): "x"=1...16
P-0-3263.0.6, SMO: Error reaction F3 tolerance time
P-0-3255, SMO: Velocity threshold for safe standstill
Cause Remedy
Parameterization for F3 error reaction is too low Check parameterization of P-0-3263.0.6 and correct
accordingly
Parameterization of the velocity threshold for safe standstill Check parameterization of P-0-3255 and correct accordingly
is too low
Parameterized deceleration is too low or not adjusted to For drive-controlled transition, stopping process takes place
parameterized tolerance time via "P-0-0119, Best possible deceleration" so that error
reaction parameterized in drive has to be checked.

00540014

8.3.19 F7051 Safely-monitored deceleration exceeded

In the transition to a safe state the drive is not able to reach the selected
special mode with the parameterized deceleration.
The error is generated by the safety function "Safely-monitored deceleration"
(SMD) during a change in safety technology operating status or monitoring of
the F3 error reaction if the current actual velocity of the drive is not within the
parameterized veloc. envelope curve.
Error messages
Safety technology, change in operating status
Cause Remedy
If transitions between safety technology operating states are Adjust command value input (deceleration caused by NC) to
NC-controlled (P-0-3280.0.1, bit 0="0"), deceleration caused values parameterized in P-0-3280.0.2, P-0-3280.0.3,
by NC is insufficient P-0-3280.0.4
If transitions between safety technology operating states are ● Check parameterization of drive deceleration
drive-controlled (P-0-3282.0.1, bit 0="1"), deceleration (P-0-0119)
caused by drive is insufficient ● Check torque limit (P-0-0109)
Overshooting the actual velocity when selecting safety ● Check controller settings and adjust if necessary
technology operating states during acceleration procedures ● Check parameterization of P-0-3280.0.6 and
P-0-3280.0.7
Overshooting the actual velocity when reaching "velocity ● Check controller settings and adjust if necessary
window SMD" ● Check parameterization of P-0-3280.0.8
Incorrect parameterization ● P-0-3280.0.1
● P-0-3280.0.2
● P-0-3280.0.3
● P-0-3280.0.4
● P-0-3280.0.6
● P-0-3280.0.7
● P-0-3280.0.8
● P-0-3280.0.9
Monitoring the F3 error reaction
Cause Remedy
If "drive reaction to errors of category F3" is set, deceleration ● Check parameterization of drive deceleration
caused by drive is insufficient (P-0-0119)
● Check torque limit (P-0-0109)
Current actual velocity is exceeded when F3 error occurs ● Check controller settings and adjust if necessary
during acceleration procedures ● Check parameterization of P-0-3263.0.2 and
P-0-3263.0.3
Overshooting the actual velocity when reaching "velocity ● Check controller settings and adjust if necessary
window SMD-E" ● Check parameterization of P-0-3280.0.4
Incorrect parameterization Check parameter settings and change them, if necessary:
● P-0-3263.0.2
● P-0-3263.0.3
● P-0-3263.0.4
● P-0-3263.0.5
● P-0-3263.0.6

00540015
Error messages

8.3.20 F7052 Selected target velocity exceeded

Cause Remedy
In an NC-controlled safety technology operating state Safety technology operating state transitions into the special
transition, the control unit prematurely terminated the mode "Safe standstill" or "EMERGENCY STOP"
transition into the selected operating state (P-0-3261.0.1). The transition is only permitted to be terminated prematurely
The target velocity of the selected operating state was not if the actual velocity is within the parameterized standstill
yet reached. window (P-0-3238)
Safety technology operating state transitions into the special
mode "Safe motion"
The transition is only permitted to be terminated prematurely
if the actual velocity is within the parameterized velocity
window of the selected motion mode (P-0-3290.x.2)

00540016

8.3.21 F7100 F7 test error during machine acceptance test

The error was generated in the context of machine acceptance (check point
"Error reaction") to check the reaction of the drive in case of an F7 error (see
P-0-3211).
CiA error code: F0CA
8.4 Errors of category F6xxx

8.4.1 Behavior in Case of Errors of Category F6xxx
Errors of category F6xxx are errors associated, for example, with the
exceeding of a travel range previously defined via hardware or software
switches. In the case of errors of this category, the drive is therefore stopped
as fast as can and immediately. An error reaction in the form of an active
travel motion is excluded for errors of this category.
For errors of the category F6xxx, the user can define the error reaction for the
fastest possible deceleration of the drive via the setting in "P-0-0119, Best
possible deceleration" (bits 4..7)
Error messages
At the end of the error reaction, the drive goes torque-free.

See also Functional Description of firmware "Best Possible Deceleration"
Commissioning Steps The drive can only be put into operation again when:
1. The error reaction has been completed, i.e. the drive has stopped
(v="0"!).
2. The cause of the error was removed.
("Ab").
8.4.2 F6001 Non-fatal system error

A non-fatal system error has occurred. The drive is decelerated using the
configured F6 error reaction.
Cause Remedy
The diagnostic system has detected an undefined diagnostic Make a backup of all parameters.
message Then get in contact with our service department and forward

8.4.3 F6002 Assignment of encoder for synchronization is not allowed

When the operation mode "position synchronization" (0x0245) or the

operation mode "velocity synchronization" (0x0042) is configured in one of
the operation mode parameters (S-0-0032, S-0-0033, etc.), "P-0-0753,
Position actual value in actual value cycle" required for synchronization is
initialized with regard to the encoder specified by bit 0 of parameter
"S-0-0520, Axis control word" when switching from parameter mode to
operating mode takes place.
If the additive functional package "IndraMotion MLD" has been

enabled, the operation mode "position synchronization" and the
operation mode "velocity synchronization" are automatically
configured as operation modes.
When a synchronous operation mode with outer position control loop

("MotionProfile", "cam" or "phase synchronization") is activated, a check is
run to find out whether "P-0-0753, Position actual value in actual value cycle"
was initialized with regard to the currently effective control encoder (encoder
1 or encoder 2); if the drive detects that this is not the case, the F6002 error
is triggered.
Error messages
Cause Remedy
Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via "S-0-0520, Axis control
mode with outer position control loop is not initialization word", encoder with regard to which "P-0-0753, Position
encoder for actual position value in actual value cycle. actual value in actual value cycle" is to be initialized.
Make sure that, when activating a synchronous operation
mode with outer position control loop, control encoder
defined via "S-0-0520, Axis control word" is initialization
encoder of "P-0-0753, Position actual value in actual value
cycle".

8.4.4 F6003 Motion step skipped

When the "electronic motion profile" mode is active, a check is run during the
transition from one motion step to the next whether a motion step was
skipped.
Except for the transition from the last motion step to the first motion step (and
vice versa), the motion step number may only change by 1.
Cause Remedy
Master axis velocity ("P-0-0777, Effective master axis Reduce master axis velocity
velocity") is so high that master axis distance ("P-0-0227, - or -
Cam table, access angle") traveled in one position loop
clock is greater than width of a motion step Increase width of motion step (distance of two master axis
initial positions in "P-0-0705, List of master axis initial
positions, set 0" or "P-0-0712, List of master axis initial
positions, set 1")
- or -
Reduce position loop clock (see Functional Description of
firmware "Performance Data")

8.4.5 F6004 Error in MotionProfile

In the "MotionProfile" mode, the drive monitors whether the defined motion
profile (max. 8 individual motion steps) is verisimilar. The error is generated if
a motion profile that has not passed the validation checks is activated with
the drive having been enabled. Depending on whether set 0 or set 1 had
been selected, a number is displayed in parameter "P-0-0702, MotionProfile,
diagnosis, set 0" or "P-0-0709, MotionProfile, diagnosis, set 1".
Error messages
Cause Remedy
1: Master axis initial positions of motion steps used are not Check list "P-0-0705, List of master axis initial positions,
increasing set 0" or "P-0-0712, List of master axis initial positions,
set 1"
2: In the case of absolute motion profile, sum of individual Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
distances is not "0" or a multiple of "S-0-0103, Modulo List of distances, set 1"
value"
21…28: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Following step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"velocity in rest" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
Number of checked motion step can be taken from second set 1"
digit of diagnostic message number
31…38: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Following step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"velocity in rest" or "velocity in velocity". Velocities of step
that was checked and following step do not match.
Number of checked motion step can be taken from second
41…48: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Previous step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"rest in velocity" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
51…58: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Previous step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"rest in velocity" or "velocity in velocity". Velocities of step
that was checked and previous step do not match.
61…68: 1st table element of a cam table used is unequal "0" Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
or cam table is invalid. List of motion step modes, set 0" or "P-0-0713, List of
Number of rejected cam table can be taken from second motion laws, set 1"/"P-0-0713, List of motion step modes,
digit of diagnostic message number set 1"
71...78: Checked motion step is "velocity in rest", "velocity in Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
velocity" or "rest in velocity". Distance of motion step List of distances, set 1"
inadmissibly is "0"
81...88: Checked motion step is "rest in rest with limited ● Reduce distance of step (P-0-0707 or P-0-0714)
velocity". Indicated maximum slave axis velocity would be ● Increase maximum slave axis velocity (P-0-0708 or
exceeded and segmentation into the three partial steps "rest P-0-0715)
in velocity", "constant velocity" and "velocity in rest" is
impossible. ● Reduce master axis velocity (P-0-0704 or P-0-0711)

See also Function Description of firmware "MotionProfile with Real/Virtual

Master Axis"
Error messages

8.4.6 F6005 Cam table invalid

When the cam mode is active, the drive monitors whether one of the cam
tables contains invalid elements or is incomplete.
Cause Remedy
One of cam tables is invalid Check cam tables and, if necessary, reload them
("P-0-0072, Cam table 1", "P-0-0092, Cam table 2",
"P-0-0780, Cam table 3", "P-0-0781, Cam table 4",
"P-0-0782, Cam table 5", "P-0-0783, Cam table 6",
"P-0-0784, Cam table 7" or "P-0-0785, Cam table 8").
In case of doubt, contact installation programmer or machine
manufacturer
See also Function Description of firmware "Electronic Cam with Real/Virtual

Master Axis"
8.4.7 F6006 Incorrect initialization of effective master axis position

Absolute initialization of the effective master axis position (P-0-0776) was not
possible with activated operation mode "Position synchronization".
Cause Remedy
When operation mode "Position synchronization" is Adjust "P-0-0084, Number of bits per master axis revolution"
activated, the resulting master axis position (P-0-0775) is - or -
multiplied by the electronic gear and the fine adjustments
and is then limited to 2P-0-0084 increments (one revolution of Select P-0-0775 with activated operation mode "Position
the master axis). If the amount of the result that is not yet synchronization" such that the requirement described under
"Cause" is met
limited to 2P-0-0084 increments exceeds a value of 231-1
increments, the effective master axis position (P-0-0776) is (See also Functional Description "Master Axis Adjustment" /
initialized incorrectly. In this case, the drive generates error index entry "Gear function, electronic")
F6006.

Error messages
8.4.8 F6007 Switching to non-initialized operation mode

When switching the active operation mode, the drive was switched to a non-
initialized operation mode.
For the operation modes that can be selected, please see descriptions of the
operation mode parameters:
● S-0-0032, Primary operation mode
● S-0-0033, Secondary operation mode 1
Cause Remedy
Via "S-0-0134, Master control word" (for sercos or Enter desired operation mode in selected operation mode
"P-0-4077, Field bus: Control word" (for field bus), an parameter
operation mode was selected that had not been initialized
(e.g., S-0-0032="0")
See also Functional Description of firmware "Selecting the Operation Mode".

CiA error code: F098
8.4.9 F6008 Internal overflow when calculating positioning profile

In synchronization modes with outer position control loop, the internal path
generator (2nd order interpolator) is used for double-step synchronization or
for the additional trapezoidal movement to the additive position command
value (S-0-0048).
The internal path generator is also used to travel a change in "Additive
master axis position".
In all cases, the path generator monitors the residual path to be traveled and
the braking distance to find out whether they exceed the numeric range.
Cause Remedy
Calculated braking distance is greater than 231 Increase acceleration/deceleration in "P-0-0142,

Synchronization acceleration", "P-0-0687, Additive position
command value, positioning acceleration" or "P-0-0689,
Additive master axis position, positioning acceleration"

Error messages
8.4.10 F6010 PLC runtime error

The PLC integrated in the drive (Rexroth IndraMotion MLD) triggers error
F6010 in the case of configuration errors, runtime errors or task watchdogs.
Up toMPx17: When connecting the programming system

IndraLogic to the drive-internal PLC or when starting the
simulation (IndraLogic: Online ▶ Login) the message window
appears; it displays messages from the last compilation, check or
comparison process.
As of MPx18: When connecting the programming system
IndraWorks MLD to the drive-internal PLC (IndraWorks:
Debug ▶ Login) the incorrect program line is highlighted in yellow,
provided that error F6010 was caused by a runtime error.
Error reaction The PLC is not started or all tasks of the PLC are stopped. The drive is
always decelerated by zeroing the velocity command value; that is, the error
reaction cannot be set by the user.
Troubleshooting A more detailed diagnosis for narrowing the cause of error down is shown in
"P-0-1365, PLC error message".
The following cases must be distinguished for troubleshooting:
● For removing the error in a freely programmed application, it is
necessary to modify the PLC program or the task configuration with the
programming system.
● For a technology function made available by Bosch Rexroth, please see
the corresponding documentation for instructions on troubleshooting.
See also the IndraLogic or IndraWorks Online Help
See also the documentation on error handling of IndraMotion MLD "Rexroth
IndraMotion MLD"
00370027

8.4.11 F6024 Maximum braking time exceeded

The drive checks automatically whether the motor, after drive enable has
been switched off or when an error event occurs, was shut down within the
delay time parameterized in "S-0-0273, Maximum drive off delay time".
If not, error F6024 is generated.
Closed-Loop "Shut down" means that the velocity of the motor is smaller than 10 rpm
(rotary)/10 mm/min (linear) or the velocity of the motor is smaller than the
standstill window (S-0-0124), when S-0-0124 is smaller than 10 rpm (rotary)/
10 mm/min (linear).
Error messages
Open-Loop ● D.C. braking is deactivated: (P-0-0579 = "0"):

"Shut down" means that the calculated actual velocity of the motor is
smaller than 10 rpm (rotary)/10 mm/min (linear).
● D.C. braking is activated: (P-0-0579 > "0"):
"Shut down" means that
– the calculated actual velocity of the motor is smaller than 10 rpm
(rotary)/10 mm/min (linear) and
– the torque-producing current has fallen to 20% of its nominal value,
or
the D.C. braking time has elapsed (P-0-0579 = "0").
The error reaction of the drive depends on the brake type (see P-0-0525):
● Servo brake
– The drive internally presets a velocity command value of "0" and
the holding brake applies.
– After the time preset in "S-0-0207, Drive off delay time" is over, the
drive is torque- or force-free.
● Main spindle brake
– The drive goes torque- or force-free, the drive enable signal is
switched off internally.
– The brake applies, when the velocity is smaller than 10 rpm
(rotary)/10 mm/min (linear).
Cause Remedy
Incorrect parameterization of "S-0-0273, Maximum drive off Adjust delay time (S-0-0273) or acceleration (S-0-0372) to
delay time" or "S-0-0372, Drive Halt acceleration bipolar" acceleration capacity of drive
Torque/force limitation incorrectly parameterized or current Check torque/force limitation and current limitation
limitation active due to thermal overload (see also Functional Description of firmware "Current and
Torque/Force Limitation")
Incorrect motor connection Check and, if necessary, correct motor connection
Hardware defect on power section Replace control section or entire drive controller

See also Functional Description of firmware "Motor Holding Brake"

8.4.12 F6028 Position limit value exceeded (overflow)

The drive provides a function for monitoring an allowed travel range by

means of software limit switches that can be parameterized.
Error messages
The travel range monitor has to be activated and parameterized

via "S-0-0049, Positive position limit value", "S-0-0050,Negative
position limit value" and "S-0-0055, Position polarities".
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in "P-0-0090, Travel range
limit parameter".
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on.
positive travel range/position limit value ("S-0-0049, Positive 2. Set drive enable and input a command value leading
position limit value" or "S-0-0050, Negative position limit back to allowed travel range.
value").
Contact machine manufacturer in order to find out
cause of incorrect command value.
"S-0-0049, Positive position limit value" or "S-0-0050, Check and, if necessary, correct parameter setting of
Negative position limit value" incorrectly parameterized "S-0-0049, Positive position limit value" or "S-0-0050,
Negative position limit value".
When the position limit values are at the end of possible Increase "S-0-0278, Maximum travel range"
travel range (+/- "S-0-0278, Maximum travel range"), - or -
exceeding of travel range can no longer be unequivocally
detected by means of actual position values. Therefore, Reduce position limit values so that defined deceleration is
overflow monitoring is carried out which generates error still possible within defined travel range.
The parameter "S-0-0057, Position window" is used to realize a

hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel

Range Limit Switch".
8.4.13 F6029 Positive position limit exceeded



via "S-0-0049, Positive position limit value", "S-0-0050, Negative
limit parameter".
Error messages
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on.
positive travel range/position limit value ("S-0-0049, Positive 2. Set drive enable and preset command value that leads
position limit value"). back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
"S-0-0049, Positive position limit value" incorrectly Check and, if necessary, correct parameterization of
parameterized. "S-0-0049, Positive position limit value".
The "S-0-0057, Position window" parameter is used to realize a


8.4.14 F6030 Negative position limit exceeded



via "S-0-0049, Positive position limit value", "S-0-0050, Negative
limit parameter".
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on
negative travel range/position limit value ("S-0-0050, 2. Set drive enable and preset command value that leads
Negative position limit value"). back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
"S-0-0050, Negative position limit value" incorrectly Check and, if necessary, correct parameterization of
parameterized "S-0-0050, Negative position limit value".
The "S-0-0057, Position window" parameter is used to realize a


Error messages

8.4.15 F6034 Emergency-Stop activated

The drive provides a function for monitoring an E-Stop input (connection of

an external hardware switch).
IndraDrive Mi: If "IndraDrive Mi" is used and the E-stop input is connected to
the "KCU" electronic control system and parameter "P-0-0223, E-Stop input"
is assigned to none of the digital inputs, the E-stop input of the "KCU" is
monitored.
This monitor has to be activated and parameterized via

"P-0-0008, Activation E-Stop function".
The error can only be cleared, when the selection of E-Stop is
removed or the evaluation of E-Stop was switched off.
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and
clarify cause of triggering
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if
control section necessary
E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware:

● "E-Stop Function"
● "Digital Inputs/Outputs"
● "Velocity Command Value Reset"
CiA error code: F09B
8.4.16 F6042 Both travel range limit switches activated

Error messages
The compliance with the allowed travel range is monitored on the hardware
side via two travel range limit switches. When the travel range has been
exceeded, one of the two limit switches is activated, if the limit switches were
correctly mounted.
The error F6042 is generated, if
● the controller detects that both travel range limit switches have been
simultaneously activated and
● exceeding the travel range is handled as an error (setting in "P-0-0090,
Travel range limit parameter")
Cause Remedy
Due to incorrect mounting, axis simultaneously activates Mount travel range limit switches in such a way that they are
both travel range limit switches activated shortly before axis end position is reached. Make
sure the braking distance is sufficient.
Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check
compliance with switching logic set in "P-0-0090, Travel
range limit parameter"
Switching logic of travel range limit switches does not Check switching logic with regard to realized wiring, adjust it
correspond to realized wiring in "P-0-0090, Travel range limit parameter" if necessary

8.4.17 F6043 Positive travel range limit switch activated

The drive provides a function for monitoring travel range limit switches
(external hardware limit switches).

"P-0-0090, Travel range limit parameter".
When the error F6043 occurs, the axis is shut down with velocity
command value reset.
Cause Remedy
Travel range limit switch situated in positive direction (see 1. Clear error (reset button or error clearing command)
Project Planning Manual for motor) was activated because and switch power on.
axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads
travel range limit switches. back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on Correct configuration of digital inputs/outputs and correct it,
control section if necessary.
Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch.
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller.
Error messages

See also "E8043 Positive travel range limit switch activated".

● " Position Limitation/Travel Range Limit Switch"
● " Digital Inputs/Outputs".
8.4.18 F6044 Negative travel range limit switch activated

The drive provides a function for monitoring travel range limit switches
(external hardware limit switches).

"P-0-0090, Travel range limit parameter".
When the error F6044 occurs, the axis is shut down with velocity
command value reset.
Cause Remedy
Travel range limit switch situated in negative direction (see 1. Clear error (reset button or error clearing command)
Project Planning Manual for motor) was activated because and switch power on.
axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads
travel range limit switches. back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if
control section. necessary.
Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch.
wired.
Control section or digital inputs on control section defective. Replace control section or entire drive controller.


● " Position Limitation/Travel Range Limit Switch"
● " Digital Inputs/Outputs".
Error messages

8.4.19 F6058 Internal overflow by positioning input

In operation modes using the internal path generator (interpolation,

positioning, positioning block mode and spindle positioning), the residual path
to be traveled and the braking distance are monitored to find out whether
they exceed the numeric range.
Cause Remedy
Due to command value input, a residual path greater than Check command value input, positioning velocity or
231 has built up. potentiometer value
Note: As the internal position resolution is determined by the
travel range (the maximum distance resulting from -travel
range to +travel range is less than 231), this can only occur
for axes with modulo scaling. Even for axes with modulo
scaling, the behavior is only possible if several relative
distances are preset without the axis being able to follow.
Calculated braking distance is greater than 231 Increase "S-0-0278, Maximum travel range"
- or -
Increase deceleration in "S-0-0359, Positioning
deceleration", "S-0-0372, Drive Halt acceleration bipolar" or
"P-0-4063, Positioning block deceleration"

8.4.20 F6059 Incorrect command value direction when positioning

In the operation modes "drive-controlled positioning" and "positioning block

mode", it is possible to jog the axis in both directions and input relative
distances in both directions.
When the position data of the axis are to be processed in the modulo format
due to the setting in "S-0-0076, Position data scaling type" and positive or
negative direction of rotation has been selected in "S-0-0393, Command
value mode", a command value in the wrong direction causes the error
F6059 to be generated.
Cause Remedy
In "drive-controlled positioning" mode, target position points Check relative positioning input (S-0-0282, Positioning
to wrong direction command value)
Direction of rotation of "modulo axis" incorrectly Check command value mode that has been set (S-0-0393,
parameterized for drive-controlled positioning processes Command value mode)
Error messages
Cause Remedy
In "positioning block mode", target position points to wrong Check relative positioning input (P-0-4006, Positioning block
direction target position)
There is an attempt to jog to the wrong direction Jogging only in allowed direction of rotation (S-0-0346,
Positioning control word)
See also Functional Description of firmware

● "Drive-Controlled Positioning"
● "Positioning Block Mode"
8.4.21 F6140 CCD slave error (emergency halt)

Cause Remedy
"Error reaction active" has been set in P-0-1800.0.1/ Locate faulty slave and remove cause of error for this slave
P-0-1600 (CCD: Configuration)and an F6 or F7 error has
occurred in a slave; the CCD master reacts with Emergency
stop (velocity command value reset)

8.4.22 F6200 Velocity command value > standstill window in SOS

The safety function is "safe operational stop" (SOS).

The drive monitors to ensure that no velocity command values are specified
such that the standstill window is exited.
Cause Remedy
Incorrect velocity command values are preset by drive or Check command value specification (P-0-0048) and adjust
external control unit according to parameterization of standstill window
(S-0-0124)
"P-0-3285.0.2, SMO: Parameterization of monitoring window Change parameterization of "P-0-3285.0.2, SMO: Monitoring
for safe operational stop" is wrong. window for safe operational stop " appropriately

Error messages
8.5 Interface errors (F4xxx)

8.5.1 Behavior in Case of Interface Errors
The user can influence the behavior of the drive in case of interface errors by
means of the parameterization of "P-0-0119, Best possible deceleration" (see
Functional Description "Error Reaction").
As of MPx04, an MLD error reaction is possible (see P-0-0117).
At the end of the error reaction, the drive goes torque-free.

Commissioning Steps The drive can only be put into operation again when:
(v="0"!).
("Ab").
8.5.2 F4001 Sync telegram failure

Up to MPx16, the name of this diagnostic message was "F4001

Double MST failure shutdown"
Master Communication sercos The master synchronization telegram (MST) was not received in the drive in
several successive sercos cycles. The number of allowed failures is set in
S-0-1003.
Cause Remedy
Different sercos cycle times in master and slave Check sercos cycle times in master and slave and adjust
them, if necessary
Disturbance in sercos interface (general) Replace control section or entire drive controller
Master Communication CANopen The synchronization telegram was not received in the drive in two successive
cycles.
Cause Remedy
Sync master does not transmit Sync telegram Check whether a bus node was configured as Sync master.
Check Sync master to see whether it is in an error state
CAN bus interrupted Check bus line
Disturbance in CANopen interface (general) Replace control section or entire drive controller
See also Functional Description of firmware "Interface Errors and Diagnostic

Possibilities"
Error messages

8.5.3 F4002 RTD telegram failure

Up to and including MPx16, the name of this diagnostic message

was "F4002 Double MDT failure shutdown"
sercos master communication A consumer connection violates the selected monitoring criterion.
Cause Remedies
Synchronous monitoring has been preset for a connection ● Check bus line and connector
and the NewData bit of the connection does not toggle in the ● Change line topology to ring topology
preset cycle
● Increase value in "S-0-1050.x.11, sercos connection:
The number of successive connection failures has exceeded Allowed data losses"
the limit value of "S-0-1050.x.11, sercos connection: Allowed
data losses".
Too many telegrams fail due to disturbances.
CANopen master communication The Real-time Data Telegram (RDT) was not received in the drive in two
successive field bus cycles.
Cause Remedy
PDO master does not transmit any more cyclic telegrams to Switch master on and start cyclic communication; see
drive control unit manual
Bus line disturbed Check bus line and connector
Disturbance in CANopen interface (general) Replace control section or entire drive controller
EtherCAT master communication In the status "Operational" (OP), the (command value) telegram was not
received in the drive in two successive bus cycles.
In the status "Operational" (OP), but without drive enable, the

drive generates the warning E4005.
Cause Remedy
Incorrect timing settings Check settings in master

Incorrect settings of "distributed clocks" Check settings in master
Cyclic telegrams stopped in master while drive is still in AF Remove drive enable before cyclic telegrams are stopped
Telegrams fail due to disturbances Check bus line and connector
All master communications A consumer connection violates the requirement of an active operation mode.
Error messages
Cause Remedy
Some operation modes only allow one single command Check settings for producer of connection (can be bus
value failure in the active state, independent of the allowed master or another slave):
communication failures. Monitoring only takes place in the ● Incorrect connection type setting (P-0-1807.x.1 /
operation modes "position control with cyclic command S-0-1050.x.1):
value input" and "position synchronization."
Bit 1-0="00".
● Incorrect producer cycle time:
The same cycle time has to be set for the producer
and consumer of a connection.

8.5.4 F4003 Invalid communication phase shutdown

The sercos master module specified an unallowed communication phase

(phase >4).
Cause Remedy
Error in sercos master module of control Error can only be corrected after having consulted
manufacturer of the control

Possibilities"
8.5.5 F4004 Error during phase progression

The specified order was not complied with during phase progression.
Cause Remedy

Possibilities"
Error messages
8.5.6 F4005 Error during phase regression

When switching back from a communication phase, target communication

phase failed to be communication phase 0.
Cause Remedy

Possibilities"
8.5.7 F4006 Phase switching without ready signal

An attempt was made from the sercos master to implement a phase switch
without waiting for the drive to indicate readiness.
Cause Remedy

Possibilities"
8.5.8 F4009 Bus failure

The cyclic communication via the master communication interface failed after
the master communication interface had been initialized and commissioned.
The drive generates this error in the following cases:
● Within the monitoring time entered in P-0-4075 no telegram with
command values or heartbeat has been received (not with EtherCAT,
Ethernet POWERLINK and sercos)
- or -
● The control was switched to "stop" and the drive is under torque.
- or -
Error messages
● The control removed the drive from the master communication group
and the drive is under torque.
F4009 can be suppressed by means of P-0-4088 (bits 2 and 1) in

order to generate warning E4005 instead.
DANGER Dangerous movements! Danger to life, risk of

automatic restart after bus failure!
In the case of bus failure (message "F4009" or "E4005"), an error reaction
must be carried out in the control unit, too, to prevent automatic restart after
the bus has been reestablished. This means that the bits "Drive Halt", "drive
enable" and "drive ON" (e.g. bits 13, 14 and 15 in parameter "P-0-4077, Field
bus: Control word") should be reset in the control unit in the case of bus
failure.
Ethernet POWERLINK
Cause Remedy
The master does not send cyclic PReq telegrams Check state of master
(PReq=PollRequest)
The bus connection has been interrupted Inspect cable and interface
EMC problems in the transmission path Inspect shielding and routing of cables
EtherCAT
Cause Remedy
Communication phase 0 was given, although the drive First remove drive enable and then set communication
enable was set. phase 0.
The Ethernet connection has been interrupted in phase Check Ethernet cable/connector
"PreOp", "SafeOp" or "Op"
EtherNet/IP Only class-1 connections are monitored, which means that no new output
data were received from the master within the watchdog time.
Cause Remedy
Master does not exchange cyclic output data. Check master state.
The Ethernet connection has been interrupted Check Ethernet cable and, if applicable, switch
EMC problems in the transmission path Inspect shielding and routing
Network load too high Switch off unnecessary Ethernet communication; if required,
establish separate network for EtherNet/IP
CANopen Depending on the set type of node monitoring, the "node-guarding request"
(cyclic node monitoring) or the "heartbeat telegram" is monitored.
Cause Remedy
The master does not send a node monitoring telegram Check master state.
Error messages
Cause Remedy
Bus load too high Check communication settings (or communication load).
Bus terminating resistor defective Check whether bus terminating resistors have been installed
at the remotest bus nodes.
PROFIBUS The master must address the slave within the monitoring time.
Cause Remedy
Master does not exchange cyclic output data. Check master state.
Bus terminating resistor defective Check whether bus terminating resistors have been installed
at the remotest bus nodes. Bus terminating resistors are not
allowed to be installed at any of the other nodes
PROFINET The consumer (drive) monitors the reception of the cyclic data from the
provider (control unit) by means of a monitoring interval.
Cause Remedy
Master does not exchange any cyclic output data. Check master state.
The Ethernet connection has been interrupted Check Ethernet cable and, if applicable, switch
Network load too high Switch off unnecessary Ethernet communication; if required,
establish separate network for PROFINET
sercos
Cause Remedy
Communication phase 0 was given, although the drive First remove drive enable and then set communication
enable was set. phase 0.

8.5.9 F4011 Communication watchdog: Overload of cyclic communication

Cause Remedy
MultiEthernet interface is overloaded; I/O data of cyclic Please contact our service department
communication cannot be transmitted to drive

Error messages
8.5.10 F4012 Incorrect I/O length

The master tries to establish communication with an I/O length that does not
correspond to the I/O length parameterized in the drive.
Cause Remedy
Different length for input data or output data than drive ● Check parameter set in drive
expects in "P-0-4071, Field bus: Length of cyclic command ● Adjust master configuration
value data channel" and "P-0-4082, Field bus: Length of
cyclic actual value data channel" was configured in master

8.5.11 F4016 PLC double real-time channel failure

The "RtcW_" variables of the integrated PLC were not written to the
corresponding parameters twice in succession or were not written in time.
Cause Remedy
Function block "MX_SynchronControl" is used: Increase interval time of RTC task

The interval time of the RTC task (task using the real-time
channel) is too short. The task code processing takes more
than one interval time
Function block "MX_SynchronControl" is not used: Increase interval time of RTC task
The program code of the RTC task had not yet been - or -
processed at the time of the controlled transmission of the Use function block "MX_SynchronControl" and increase
"RtcW_" variable value at the "CmdDelay" input
See also
● Rexroth IndraMotion MLD, Application Manual, index entry "Real-time
channel"
● Rexroth IndraMotion MLD, Library Description, index entry
"MX_SynchronControl"
8.5.12 F4017 sercos: Incorrect sequence during phase switch

Error in the sercos master module of control; an attempt was made from the
sercos master to implement a phase switch with a sequence that the drive
detected as incorrect.
Error messages
Cause Remedy
A timeout occurred in the drive during phase switch Error can only be corrected after having consulted
(individual switching sections took too long) manufacturer of the control
- or -
The master switched the phase without prior announcement
(new phase in MST without setting CPS bit).
- or -
Drive was switched on while sercos was already in a higher
phase.

8.5.13 F4019 sercos: Incorrect sequence upon phase start

Error in the sercos master module of control; an attempt was made from the
sercos master to implement a phase switch with a sequence that the slave
detected as incorrect.
Cause Remedy
After a phase switch the bus master does not start with the Error can only be corrected in consultation with the
announced phase. manufacturer of the control. The bus master does not
behave in conformity with standards. No remedy possible in
the slave

8.5.14 F4020 sercos: Cable break (L+F to NRT)

The sercos topology was changed from "Loop-back with Forward" (LF) to
"NRT mode".
Any change in topology is also displayed in "S-0-1045, sercos:

Device Status (S-Dev)" and at the LEDs of the Multi-Ethernet
interface.
Cause Remedy
Both sercos cables were simultaneously removed Plug in sercos cables and restart phase progression by
master
Cable break has occurred (defective cable) Replace cable and restart phase progression by master

Error messages

8.5.15 F4034 Emergency-Stop activated


an external hardware switch).
IndraDrive Mi: If "IndraDrive Mi" is used and the E-stop input is connected to
the "KCU" electronic control system and parameter "P-0-0223, E-Stop input"
is assigned to none of the digital inputs, the E-stop input of the "KCU" is
monitored.

"P-0-0008, Activation E-Stop function".
The axis is shut down as parameterized in "P-0-0119, Best
possible deceleration".
The error can only be cleared, when the selection of E-Stop is
removed or the evaluation of E-Stop was switched off.
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and clear
error (reset key or error clearing command). Afterwards
switch power on again and clarify cause of triggering of E-
Stop
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control
control section section and correct it, if necessary
wired


● "Best Possible Deceleration"
CiA error code: F09A
Error messages
8.5.16 F4140 CCD communication error

Cause Remedy
The CCD master has detected a double cyclic telegram Remove error in the transmission path
failure
- or -
"Error reaction active" has been set in P-0-1800.0.1/
P-0-1600 (CCD: Configuration) and the slave signals a
communication error
The CCD master is decelerated as set in "P-0-0119, Best

possible deceleration".

8.5.17 F4141 CCD: IO configuration changed

Cause Remedy
A new PLC project was loaded in the sercos communication A new PLC project with modified assignment of I/O data is
phase 4 of the MLD-M-/ CCD group. only permitted to be loaded in communication phase 2 of the
In the new PLC project, assignment of inputs/outputs of the MLD-M/ CCD group.
I/O slaves to the input and output display of the PLC was
changed, which resulted in incorrect assignment of I/O data
in the PLC program.
The communication phase of the MLD-M-/ CCD group was
switched back after communication phase 2.
See also Functional Description of firmware "Cross Communication (CCD)"

8.5.18 F4142 CCD: Ring buffer overflow

Error messages
Cause Remedy
Ring buffer activated for the function "Synchronization on Use P-0-1816.0.5 to increase target gap for input and output
non-synchronous master communication" has detected an data in ring buffer.
overflow. Over an extended period more data were removed - or -
than included or more included than removed. Normally, this
is compensated for with a correction of nominal value of Correct offset of master communication cycle time to
system time in drive controller. IndraDrive.
Maximum permanent difference between master "Offset of master communication cycle time to IndraDrive" is
communication cycle time and system timer in drive the difference between cycle time in control unit and set
controller is 1000 ppm of master communication cycle time. CCD cycle time.
A greater deviation always results in error F4142. Example: In a field bus-master communication, CCD cycle
time (S-0-0001) is set to 2000 ms, but control unit sends
command values only every 2005 ms. A deviation of +/- 2ms
can be compensated; in this case, the difference of the
actual cycle time to set cycle time is too great. The non-
synchronous control unit is forced to send command values
approx. every 2000 ms on average.

8.5.19 F4150 CSAL error

An error occurred in the not safety-related "CIP Safety" communication (CIP

Safety Adaptation Layer - CSAL).
To repair the cause(s)/error, call the dialog "Error/Diagnostic Memory" in
IndraWorks (context menu of the axis in the Project Explorer:
Diagnostics ▶ Error/Diagnostic Memory.
If problems in the not safety-related "CIP Safety" communication occur
repeatedly, please contact the customer service.

CiA error code: F0BA
8.6 Non-fatal safety technology errors (F3xxx)

8.6.1 Behavior in the Case of Non-Fatal Safety Technology Errors (F3xxx)
Optional Safety Technology Mod‐ The behavior of the drive when non-fatal safety technology errors occur can
ules "STO" (L3) and "STO and be configured with "P-0-0119, Best possible deceleration" and "P-0-0117,
SBC" (L4) Activation of NC reaction on error".
When the error reaction is complete, the drive goes torque-free (see also
Functional Description of firmware "Error reaction").
Optional Safety Technology Mod‐ The behavior of the drive when non-fatal safety technology errors occur
ules "Safe Motion" (S0, S3, S4, (F3xxx) can be configured with "P-0-3263.0.1, SMO: Configuration of
S5) stopping process".
Error messages
If the F3 error reaction is complete after the time period entered in

"P-0-3263.0.7, SMO: Error reaction F3 tolerance time" then the drive goes
torque-free and the output stage is locked via two channels.
If the F3 error reaction is not complete after the time period entered in
"P-0-3263.0.7, SMO: Error reaction F3 tolerance time", then the error
message "F7050 Timeout standstill" or "F8350 Timeout standstill" is
generated [if the F3 error reaction is configured the same as the F7 error
reaction (see P-0-3263.0.1)].
As soon as the axis stops and the error reaction is complete, the axis
acknowledges safety.
The settings of "P-0-3263.0.1, SMO: Configuration of stopping

process", "P-0-0119, Best possible deceleration" and "P-0-0117,
Activation of control unit reaction on error" must be verisimilar.
Commissioning Steps Therefore, the drive can only be put into operation again when:
(velocity="0"!).
("Ab").
In case non-fatal safety technology errors are occurring

repeatedly, contact our service department as operating the drive
then is no longer allowed.
8.6.2 F3010 SMO: IO mapper inputs error

If block type 6: "Protected AND with reset protection" is used in the "IO
mapper inputs", the inputs "Start" and "Reset" are monitored for compliance
with a minimum pulse duration (P-0-3332.0.1).
Cause Remedy
Pulse duration of "Start" input is less than parameterized Check pulse duration of "Start" input or value of
time in P-0-3332.0.1 P-0-3332.0.1
Pulse duration of "Reset" input is less than parameterized Check pulse duration of "Reset" input or value of
time in P-0-3332.0.1 P-0-3332.0.1

00530097
00540096
00540097

CiA error code: F0A6
Error messages
8.6.3 F3100 F3 test error during machine acceptance test

The error was generated in the context of machine acceptance (check point
"Error reaction") to check the reaction of the drive in case of an F3 error (see
P-0-3211).
8.6.4 F3101 Axis validation missing

Continuous operation of "Safe Motion" in SMO operating mode (SOM), sub-

state "State machine of the Safe Motion profile" is only possible for a
maximum fof 15 minutes if there is no validation state (see P-0-3210.0.2).
Afterward an automatic shutdown is carried out with this error message. If the
error is deleted, the axis can be operated for another 15 minutes.
Cause Remedy
The axis was operated for 15 minutes in SMO operating Carry out validation of axis configuration (see documentation
mode (SOM), sub-state "State machine of the Safe Motion for integrated safety technology "Safe Motion": "Axis
profile" without a validated axis configuration. validation")

00540074

8.6.5 F3112 Safe reference missing

This error is generated as a reaction to Safe reference missing, depending on

the selected/active special mode and the configured safety function.
Cause Remedy
The axis has been in the following state for at least 15 Establish "Safe reference"
minutes: Note: After a risk assessment, the parameterization can be
● "Safe homing procedure" has been activated such that the warning E3112 is signaled instead of the
(P-0-3253.0.1) erroro F3112 (P-0-3253.0.1).
● The axis is in the operating mode "SMO application"
(P-0-3231)
● "Safe reference" is missing (P-0-3256)
The error can be cleared even if its cause has not yet been
removed; the time monitoring is restarted by clearing the error.
Error messages
See also documentation "Integrated Safety Technology", index entry "Safe

homing procedure"
005306E7
005306E8
005306E9
005406C7
005406E7
005406E8
005406E9

8.6.6 F3115 Brake check time interval exceeded

When "time interval of holding brake check" was activated in "P-0-0525,

Holding brake control word", the drive monitors the time which has passed
since the last holding brake check.
The space of time set in "P-0-0550, Time interval holding system check",
within which the holding brake check has to be carried out again, was
exceeded.
Error Reaction The drive reacts with the error reaction that has been set. The "status of
holding brake check" is set to "0" in "P-0-0539, Holding brake status word".
Cause Remedy
Drive had been put into operation and drive enable was set; Brake check ("P-0-0541, C2100 Holding system check
after 15 minutes, drive generates error F3115 command") must be carried out within 15 minutes after drive
was put into operation and drive enable was set
Time set in "P-0-0550, Time interval holding system check" Clear error; drive is operational again. Brake check must be
has elapsed since last brake check carried out within 15 minutes (with drive enable) ("P-0-0541,
C2100 Holding system check command")

CiA error code: F0AA
8.6.7 F3119 Error in initialization of P-0-3212

Cause Remedy
Read access to memory faulty. Delete error and then reconfigure P-0-3212.
"P-0-3212, SMO: Code words for tests" was not able to be
initialized with its data backup.
Error messages

CiA error code: F0AB
8.6.8 F3131 Control error, safe inputs of HSZ

Diagnostics name of MPx-18V06: "Error when checking the zone

acknowledgment".
When checking the safe inputs of the safety zone module (HSZ01), differing
states between the signals from channel 1 and channel 2 were detected.
The tolerated discrepancy time for differing states between the

signals from channel 1 and channel 2 is 1 second; it cannot be
modified.
Cause Remedy
Error in wiring of the input signals Check wiring of input signals

Active/passive control module is defective Check control module

00530664
00530665
00530666
00530667
00530668
00530669
0053066A
00540663
00540664
00540665
00540666
00540667
00540668
00540669
0054066A

CiA error code: F0AC
8.6.9 F3132 SDL validation error

Diagnostics name for MPx-18V06: "Safety zone error".
The zone master of the safety zone detects invalid states between the control
of the safety door [see P-0-3321 ("Safe door locking output, channel 1" and
"Safe door locking output, channel 2")] and the readback signals of the safety
door (see P-0-3266.0.3).
Error messages
The zone master locks normal operation via the zone bus; i.e. all zone nodes
are kept in a safe state or are transitioned into a safe state by the drive
reaction to error F7032.
The "safety of safety zone" status is signaled with "zone not safe" (see
P-0-3266.0.1).
The cause of the error can be read via the detailed diagnostics of
the zone master.
The error can only be cleared if the zone master has returned to
an error-free state.
Cause Remedy
Readback signals of the safety door are not configured Check the configuration [see documentation of the safety
technology "Safe Motion", "Safe door locking (SDL)"]
● Error in wiring Check wiring / mechanics of safety door
● Break of contact
● Defective relay
● Short circuit
The safety door is locked too slowly. A tolerance time of 1 Ensure that the safety door is locked within 1 second after
second is tolerated between the control of the safety door the safety door has been controlled
and the state change of the readback signals; this time is not
parameterizable

0053008E
00530090
00530091
00530092
0053052A
0054008D
0054008E
00540090
00540091
00540092
0054052A

CiA error code: F0AD
8.6.10 F3134 Dynamization time interval incorrect

The selection signals of channel 1 and 2 of safety technology are dynamized

by short pulses (selection signal goes to "0") to detect errors in the selection
and in the safety-relevant circuits.
The diagnostic unit of safety technology monitors that each channel is
dynamized at least once per hour. The safety technology tolerates the failure
of the dynamization pulse on one channel, when the 8 successive
dynamization pulses occur within the monitoring limit.
Error messages
When the diagnostic unit detects an error, the error F3134 is generated and
the parameterized error reaction is carried out. In addition, a safety
technology error reaction takes place after 30 minutes which switches off the
output stage via two channels and activates the brake.
In the case of a short circuit or "stuck at high" of the selection channels, there
is a maximum delay of 2 hours until a functional error reaction is initiated, or
2.5 hours until the safety technology error reaction is initiated.
Cause Remedy
Error in wiring: Check wiring of selection and remove error

● Loose connections
● Incorrect wiring of inputs and outputs
● Short circuit between both selection channels
● Short circuit between one or both selection channels
and 24 V
Hardware defective Replace drive controller
The error can be cleared by a selection and deselection

combination. However, remove the cause beforehand.

CiA error code: F0AE
8.6.11 F3135 Zone bus error

Cause Remedy
An error was detected in conjunction with the zone node Make sure the zone bus connector contacts at X42/X43 and
telegrams; discrepancy error: the signaled zone states differ the zone bus connection lines are okay; replace cable, if
necessary

8.6.12 F3141 Operating status selection validation error

Cause Remedy
Selection of a motion mode ("SMM 1" to "SMM 16") in A motion mode can be selected using safe bus
special mode "Safe motion" is not unequivocal; either there communication or safe inputs; check the selection.
is no SMM signal active or multiple SMM signals are active Correct the maximum allowable time during which either no
(see "P-0-3261, SMO: State machine control word") SMM signals or multiple SMM signals can be active during
selection of motion modes (P-0-3280.0.5)
Error messages
F3141 - Detailed diagnostics 0053000A

0053000B
0054000A
0054000B

CiA error code: F0AF
8.6.13 F3142 Activation time of enabling control exceeded

The parameterized maximum time for the activation of the enabling control
has been exceeded.
Error Reaction The drive is shut down according to the parameterization in "P-0-3263.0.1,
SMO: Configuration of stopping process". The drive automatically switches to
"Safe stop 1" and the output stage is switched off via two channels.
Cause Remedy
Enabling control was activated too long Remove enabling signal before parameterized time is over;
parameterizable activation times of enabling control:
● P-0-3290.1.6, SMO: Maximum activation time 1
● ...
Parameterization of maximum activation time of enabling Check parameterization and change it, if necessary:
control does not make sense ● P-0-3290.1.6, SMO: Maximum activation time 1
● ...
Enabling control is defective or incorrectly wired Check and, if necessary, replace/correct enabling control
and wiring
After having removed the cause, start the command "S-0-0099, C0500 Reset
class 1 diagnostics" in order to clear the error and then set drive enable
again.
F3142 - Detailed diagnostics 0053000C
0054000C

CiA error code: F0B0
8.6.14 F3150 Safety zone module: Temperature monitoring error

Temperature of safety zone module is outside of specified range.

Error messages

00540479

8.6.15 F3151 Safety zone module: 24 volt error

24V power supply of safety zone module is outside of specified range.

F3151 - Detailed diagnostics 0053047A
0053047B
0054047A
0054047B

8.6.16 F3152 Safety zone module: DYN error

The safety zone module reports a dynamization error. Please check wiring on
safety zone module.
The cause of the error can possibly be specified further via the detailed
diagnostics.
8.6.17 F3153 Safety zone module: SZE/SZA error

The safety zone module reports an error regarding the status signals "zone
error" (SZE) or "zone safety" (SZA).
Cause Remedy
Short-circuit between channel 1 and channel 2

Thermal overload in channel 1 or channel 2 Check wiring
"stuck at high" or "stuck at low"
Error messages
F3153 - Detailed diagnostics 0053047E

0053047F
0054047E
0054047F

8.6.18 F3165 Faulty SMO reference signal

The SMO reference signal is statically evaluated (P-0-3253.0.1) and the Safe
reference has been established (P-0-3256).
The SMO reference signal (P-0-3253) shows high level although the axis is
outside of the SMO reference position (P-0-3253.0.3 ± P-0-3253.0.4). The
Safe reference is cleared because the SMO reference signal is no longer
unequivocal.
Cause Remedy
Tolerance window (P-0-3253.0.4) too small Remove cause and execute command C4000
SMO home switch/reference cam was shifted
"Stuck at High" of SMO reference signal (P-0-3253)
"Sporadic" high level (disturbances) of SMO reference signal
(P-0-3253)

8.6.19 F3166 Reference position check failed

The SMO reference signal was not detected within the defined position range
during the time interval in which the Safe reference would have had to be
cyclically checked.
Cause Remedy
The SMO reference signal (P-0-3253) was not detected Repeat command C4000 to set the status of the SMO
within the position range P-0-3253.0.3 ± P-0-3253.0.4 during encoder position feedback value to "safely homed" again
the time interval in which the Safe reference would have had (P-0-3256).
to be cyclically checked (P-0-3253.0.6). Make sure that the drive is moved over the SMO reference
position at a velocity < P-0-3253.0.5 for subsequent
reference position checks.
Use P-0-3253.0.1 to configure whether the "Safe reference" is

cyclically checked or not.

homing procedure"
Error messages

8.6.20 F3167 Encoder evaluation warning

Cause Remedy
In the "SMO application" system state (P-0-3231), the 1. Using the diagnostic memory, analyze whether or not
standard encoder evaluation signals one of the following one of the warnings mentioned under "Cause" had
warnings occurred before the error F3167 occurred.
● E2074 or E2077 2. Eliminate the cause of the warning using the
● E2075 or E2078 description of the diagnostic message.
● E2076 or E2079 3. Repeat command C4000 to set the status of the SMO
encoder position feedback value to "safely homed"
The status of the SMO encoder position feedback value is again (P-0-3256).
set to "relative" (P-0-3256).

homing procedure"
8.6.21 F3304 SMO: System error

The safety technology monitors its processor systems during run-up and
cyclically for errors in memory (RAM and Flash). If errors are detected, a
corresponding error reaction is initiated.
Cause Remedy
System error with memory (RAM, Flash) of processor Switch power supply off and then on again.
systems of safety technology If error occurs repeatedly, replace drive controller.

8.6.22 F3360 SMO: Local I/O system error

The safety technology cyclically monitors the consistency of the configured

safe inputs and the plausibility of the digital output. If the inputs and the
output do not match, an error is reported.
Error messages
Cause Remedy
The inputs differ ● Check the control for consistency, inconsistent inputs
are tolerated for a maximum of 2 ms.
● Check the wiring.
The state of the output does not match the control Check the wiring for connection to VCC or GND.
Incorrect dynamization of the output If error occurs repeatedly, replace drive controller.

8.6.23 F3450 CSS stack error

Error messages
Cause Remedy
This error may have one of the following causes: Remove disturbances:
● In the "CIP Safety on sercos" stack, a protocol error ● Check grounding
has occurred in the cyclic protocol [CRC: Cyclic ● Check shielding
Redundancy Check].
Replace cable / device if necessary
● In the "CIP Safety on sercos" stack, a protocol error
occurred in the cyclic protocol. If time errors occur regularly during safe cyclic transmission:
● An error has occurred during data transfer between the Adjust connection configuration in control project (cancel
host and the optional safety technology module. time requirements for I/O cycle time and timeout)
● An error occurred during internal processing of the During connection establishment or termination:
safety technology protocols.) ● Does the set predefined configuration match the
● Errors have occurred during management of individual project?
"CIP Safety Assemblies". ⇒ Adjust the device setting ("P-0-3342.0.1, SMO:
● In the "CIP Safety on sercos" stack, a time error has Predefined Configuration consuming connection
occurred in the cyclic protocol. Safety-Bus" or "P-0-3343.0.1, SMO: Predefined
Configuration producing connection Safety-Bus") or
● An error has occurred during setup or termination of a readjust in project.
"CIP Safety" connection.
● Does the set TUNID match the project?
The connection is not activated.
⇒ Relaunch the device or adjust setting in project.
● Was the originator changed (new originator ID)?
⇒ Reset device using the command "Command
Activate parameter image"; a new originator is
accepted.
● Was safety technology activated and a TUNID
assigned before the control unit attempted connection
setup?
A false stack state was detected while the "CIP Safety on Configure connection correctly.
sercos" stack is running.
Errors have occurred in the program sequence while the Configure connection correctly.
"CIP Safety on sercos" stack is running. Prevent "soft errors" from infiltrating this section.
- or -
Error in the state machine of "Safety Supervisor".
- or -
Error in internal state machine of the "CIP Safety on sercos"
stack.
- or -
Error in the internal, non-volatile data management of the
"CIP Safety on sercos" stack.

00540569

8.6.24 F3451 FSoE stack error

Error messages
Cause Remedy
An internal error has occurred in the FSoE stack or its Restart drive by switching control voltage off and on again.
adjustment layer If error occurs again, check the configuration.
If error occurs again in spite of drive restart and correct
configuration, please contact our service department; they
can read out the exact cause of error by means of detailed
diagnostics.

8.6.25 F3452 FSoE stack connection error

Cause Remedy
Incorrect parameterization of FSoE stack Check configuration and correct it, if necessary.
If error occurs again in spite of correct configuration, please
contact our service department; they can read out the exact
cause of error by means of detailed diagnostics.

8.6.26 F3460 PROFIsafe error

An invalid value was detected when the PROFIsafe data (F-parameters or

useful data) had been checked.
Cause Remedy
Invalid F-device address Change PROFIsafe device address in P-0-3360.0.1

F-host address not allowed Adjust F-host address
Watchdog time "0" or not allowed Adjust watchdog time in PROFIsafe F-host configuration tool
Required SIL is not supported Adjust SIL in PROFIsafe F-host configuration tool
Invalid version of F-parameters Device data sheet does not match IndraDrive with
PROFIsafe that is used
Faulty CRC of F-parameters If necessary, replace faulty device data sheet
- or -
Retrigger F-parameter transmission
Inconsistent F-parameters If necessary, replace faulty device data sheet
- or -
Retrigger F-parameter transmission
Error messages
Cause Remedy
Error when checking the data length.
Change F-module in F-host or parameterization in drive
The selected F-module does not match the parameterization controller
in P-0-3342.0.1 and P-0-3343.0.1 (predefined configuration).
Error during cross comparison of useful data (F-output) If error occurs repeatedly, replace drive controller
F3460 - Detailed diagnostics 005306AD

005306AE
005306AF
005306B0
005306B1
005306B2
005306B3
005306B4
005406AD
005406AE
005406AF
005406B0
005406B1
005406B2
005406B3
005406B4

8.6.27 F3461 PROFIsafe connection error

With the connection running (DATAEX), the PROFIsafe stack has detected a
watchdog timeout or another communication error (e.g., CRC error).
Cause Remedy
A watchdog timeout was detected If watchdog errors occur regularly in safe cyclic
transmission: Adjust the connection configuration in the F-
host (cancel time requirements for I/O cycle time and
timeout).
Check and, if necessary, correct watchdog time set in F-host
A communication error (e.g., CRC error) was detected Check communication path.
Remove disturbances: Check grounding, check shielding. If
necessary, replace cables / device.

8.7 Non-fatal errors (F2xxx)

8.7.1 Behavior in Case of Non-Fatal Errors
Non-fatal errors are errors which still allow carrying out a freely definable,
variable error reaction.
Drive Behavior The user can define the behavior of the drive when non-fatal errors occur by
specifying parameters "P-0-0117, Activation of NC reaction on error" and
"P-0-0119, Best possible deceleration".
Error messages
Commissioning Steps The drive can only be put into operation again when
(v="0"!).
8.7.2 F2001 Communication error, power section parallel bus


The ring structure of the parallel switching bus is interrupted Communication
only takes place via one line connection, meaning that another telegram
failure would result in the immediate switch-off of the system.
Cause Remedy
Cable break Check / replace the wiring of the parallel switching bus
Faulty parallel connection module HCP01.1-P001 Check parallel connection module and replace if necessary

8.7.3 F2002 Assignment of encoder for synchronization is not allowed

When the operation mode "position synchronization" (0x0245) or the

operation mode "velocity synchronization" (0x0042) is configured in one of
the operation mode parameters (S-0-0032, S-0-0033, etc.), "P-0-0753,
Position actual value in actual value cycle" required for synchronization is
initialized with regard to the encoder specified by bit0 of parameter
"S-0-0520, Control word of axis controller" when switching from parameter
mode to operating mode takes place.
If the additive functional package "IndraMotion MLD" has been

enabled, the operation mode "position synchronization" and the
operation mode "velocity synchronization" are automatically
configured as operation modes.
When a synchronous operation mode with outer position control loop

("MotionProfile", "cam" or "phase synchronization") is activated, a check is
run to find out whether "P-0-0753, Position actual value in actual value cycle"
was initialized with regard to the currently effective control encoder (encoder
1 or encoder 2); if the drive detects that this is not the case, the F2002 error
is triggered.
Error messages
Cause Remedy
Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via "S-0-0520, Control word
mode with outer position control loop is not initialization of axis controller", encoder with regard to which "P-0-0753,
encoder for actual position value in actual value cycle. Position actual value in actual value cycle" is to be
initialized.
Make sure that, when activating a synchronous operation
mode with outer position control loop, control encoder
defined via "S-0-0520, Control word of axis controller" is
initialization encoder of "P-0-0753, Position actual value in
actual value cycle".

8.7.4 F2003 Motion step skipped

When the operating mode "electronic motion profile" is active, a check is run
during the transition from one motion step to the next to find out whether a
motion step was skipped.
Except for the transition from the last to the first motion step (or vice versa),
the motion step number may only change by 1.
Cause Remedy
Master axis velocity ("P-0-0777, Effective master axis Reduce master axis velocity
velocity") is so high that master axis distance ("P-0-0227, - or -
Cam shaft profile, access angle") covered in one position
loop clock is greater than width of one motion step Increase width of motion step (distance of two master axis
initial positions in "P-0-0705, List of master axis initial
positions, set 0" or "P-0-0712, List of master axis initial
positions, set 1")
- or -
Reduce position loop clock (see Functional Description of
firmware " Performance Data").

8.7.5 F2004 Error in MotionProfile

In the "MotionProfile" mode, the drive monitors whether the defined motion
profile (max. 8 individual motion steps) is verisimilar. The error is generated if
a motion profile that has not passed the validation checks is activated with
the drive having been enabled. Depending on whether set 0 or set 1 was
selected, a number is displayed in parameter "P-0-0702, MotionProfile,
diagnosis, set 0" or "P-0-0709, MotionProfile, diagnosis, set 1".
Error messages
Cause Remedy
1: Master axis initial positions of motion steps used are not Check list "P-0-0705, List of master axis initial positions,
increasing set 0" or "P-0-0712, List of master axis initial positions,
set 1"
2: In the case of absolute motion profile, sum of individual Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
distances is not "0" or a multiple of "S-0-0103, Modulo List of distances, set 1"
value"
3: In case of relative motion profile, number of motion steps Check parameter "P-0-0703, Number of motion steps, set 0"
is smaller than "2" or "P-0-0710, Number of motion steps, set 1"
21…28: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Following step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"velocity in rest" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
31…38: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Following step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"velocity in rest" or "velocity in velocity". Velocities of step
that was checked and following step do not match.
41…48: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Previous step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"rest in velocity" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
51…58: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Previous step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"rest in velocity" or "velocity in velocity". Velocities of step
that was checked and previous step do not match.
61…68: 1st table element of a cam table used is unequal Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
"0", cam table is invalid, or wrong table format is set. List of motion step modes, set 0" or "P-0-0713, List of
Number of rejected cam table can be taken from second motion laws, set 1"/"P-0-0713, List of motion step modes,
digit of diagnostic message number set 1".
Ensure that the table corresponds to the "new" format and
the setting in "P-0-0086, Configuration word synchronous
operation modes" is selected accordingly.
Error messages
Cause Remedy
71...78: Checked motion step is "velocity in rest", "velocity in Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
velocity" or "rest in velocity". Inadmissibly, distance of List of distances, set 1"
motion step is "0"
81...88: Checked motion step is "rest in rest with limited ● Reduce distance of step (P-0-0707 or P-0-0714)
velocity". Indicated maximum slave axis velocity would be ● Increase maximum slave axis velocity (P-0-0708 or
exceeded and segmentation into the three partial steps "rest P-0-0715)
in velocity", "constant velocity" and "velocity in rest" is
impossible. ● Reduce master axis velocity (P-0-0704 or P-0-0711)

See also Function Description of firmware "MotionProfile with Real/Virtual

Master Axis"
8.7.6 F2005 Cam table invalid

When the cam mode is active, the drive monitors whether one of the cam
tables contains invalid elements or is incomplete.
Cause Remedy
One of cam tables is invalid Check cam tables and, if necessary, reload them
("P-0-0072, Cam table 1", "P-0-0092, Cam table 2",
"P-0-0780, Cam table 3" or "P-0-0781, Cam table 4").
In case of doubt, contact installation programmer or machine
manufacturer

8.7.7 F2007 Switching to non-initialized operation mode

When switching the active operation mode, the drive was switched to a non-
initialized operation mode.
For the operation modes that can be selected, please see descriptions of the
operation mode parameters:
Error messages
Cause Remedy
Drive-integrated PLC (IndraMotion MLD) or one of following Enter desired operation mode in selected operation mode
control words were used to select an operation mode that parameter
was not initialized (e.g., S-0-0032="0"):
● "S-0-0134, Master control word" (with sercos)
● "P-0-4077, Field bus: control word" (with field bus)
● "P-0-4028, Device control word"
● "P-0-0120, Control word easy startup"
See also Functional Description of firmware "Selecting the Operation Mode".

8.7.8 F2008 RL The motor type has changed.

In the initialization phase (after activation of the drive), the controller checks
whether the connected motor corresponds to the type designation in
"S-0-0141, Motor type". If not, error F2008 is generated and the controller
prompts the user to load the motor-specific control loop parameter values
from the encoder memory of the motor (the display of the control panels
shows "RL").
Cause Remedy
Motor was replaced by a different motor type. Clear error with

- or - "S-0-0099, C0500 Reset class 1 diagnostics"
Parameter "S-0-0141, Motor type" of parameter file loaded - or -
to drive controller differs from connected motor type. Press the "Esc" key on the control panel of controller
- or - Note: After this error is cleared, command "S-0-0262, C07_x
Drive controller was switched on for first time. Motor type Load defaults procedure command" is executed unless this
stored in "S-0-0141, Motor type" differs from connected was deactivated in "P-0-0556, Config word of axis
motor type. controller".
Attention: Execution of this command causes the existing
control loop settings to be overwritten with the default control
loop settings from the encoder memory.
See also Functional Description of firmware "Control Panels of the IndraDrive

Controllers"
F2008 - Attributes Display: RL
8.7.9 F2009 PL Load parameter default values

Error messages
When the firmware is replaced (firmware update), the non-volatile memory

(internal memory or programming module) is automatically analyzed; during
the analysis an error was detected.
When the command "S-0-0262, C07_x Load defaults procedure

command" with the option "load basic parameters" is directly
started, the error F2009 is automatically cleared.
During the transition checks for the communication phases 3 and 4, the
operating data (parameter values) are subsequently verified; parameters with
invalid operating data (normally only all new parameters) are output in the
parameters "S-0-0021, IDN list of invalid operating data for communication
phase 2" or "S-0-0022, IDN list of invalid operating data for communication
phase 3".
NOTICE Property damage caused by unintended

overwriting of parameters and positioning
blocks!
⇒ Before executing the command for loading the parameter default values by
"clear errors", you should save the current parameter set.
Cause Remedy
Drive is started with new firmware for the first time or a By clearing error via control panel, all parameter values are
version update was carried out due to which number of non- cleared and set to original values (default values).
volatile parameters has changed. - or -
Error is cleared by starting command "S-0-0099, C0500
Reset class 1 diagnostics". Parameters that can be read
from memory remain at their last stored value, all
parameters that cannot be read from the memory (new
parameters) are set to default values and marked as being
invalid.
Parameter memory (programming module or internal Check programming module and replace it, if necessary, or
memory) is defective so that error F2009 keeps reappearing. replace control section or entire drive controller.

See also Functional Description of firmware "Control Panels of the IndraDrive

Controllers"
F2009 - Attributes Display: PL
8.7.10 F2010 Error when initializing digital I/O (-> S-0-0423)

Error messages
An error occurred during the first initialization of the drive (initialization of

digital inputs/outputs).
Cause Remedy
Conflict with last stored parameters of digital inputs/outputs Check following parameter contents and correct them, if
necessary:
● P-0-0300, Digital I/Os, assignment list
● P-0-0301, Digital I/Os, bit numbers

8.7.11 F2011 PLC - Error no. 1

With MPx-20 / PSB20 and above, the English diagnostics name is

stored as the default text in all language versions.
In conjunction with technology functions, the PLC integrated in the drive

(optional expansion package "Drive PLC") allows error messages to be
generated by the user from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology
function provided by Bosch Rexroth, the causes and remedies can be found
in the description of the technology function.
Tip: With the firmware versions MPx08/MPx17 and above, the diagnostic
message text can be edited via the integrated PLC. This allows meaningful
and language-dependent diagnostic messages to be assigned.
CiA error code: F08C
8.7.12 F2012 PLC - Error no. 2



Error messages
CiA error code: F08D
8.7.13 F2013 PLC - Error no. 3



CiA error code: F08E
8.7.14 F2014 PLC - Error no. 4



CiA error code: F08F
Error messages
8.7.15 F2015 PLC - Error no. 5



8.7.16 F2016 PLC - Error no. 6



8.7.17 F2017 PLC - Error no. 7

Error messages


8.7.18 F2018 Device overtemperature shutdown


sensor and a temperature model. When the heat sink temperature has
reached the maximum value, the device is switched off in order to protect it
against destruction.
Before the error F2018 is triggered, the warning "E2050 Device

overtemp. prewarning" is output for 30 seconds.
Cause Remedy
Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical
system and drive dimensioning (working power mustn't
exceed, on average, continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
are valid up to an ambient temperature of 40 C cabinet
Device-internal blower failed If blower fails, replace device or power section
discharge
Error messages
Cause Remedy
For liquid-cooled devices: Connect cooling system
For liquid-cooled devices: Check cooling system and remove error
coolant too high
See also Functional Description of firmware "Current Limitation Loop"

8.7.19 F2019 Motor overtemperature shutdown

The motor temperature measured by the temperature sensor has reached

the limit value in "S-0-0204, Motor shutdown temperature". The drive is
immediately decelerated according to the selected error reaction ("P-0-0119,
Best possible deceleration") and shut down. The controller outputs F2019.
For MHD, MKD, MKE and LSF motors, "S-0-0204, Motor

shutdown temperature" is permanently set and cannot be
changed.
Cause Remedy
Motor shutdown temperature incorrectly parameterized Check and correct parameterization of "S-0-0204, Motor
shutdown temperature" by means of motor or temperature
sensor data sheet
Motor is overloaded. Effective torque demanded from motor Check dimensioning of motor. In the case of installations
has been above allowed continuous torque for a too long that have been operated for a long time, check whether
time drive conditions have changed (with regard to dirt
accumulation, friction, moved masses etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line
temperature monitoring interruption, ground fault or short circuit
Instability in speed control loop Check parameterization of speed control loop
For liquid-cooled motors: Connect cooling system
For liquid-cooled motors: Check cooling system and remove error
coolant too high
See also Functional Description of firmware "Motor Temperature Monitoring"

Error messages

8.7.20 F2020 Low device temperature error

The device temperature measured in the power section is too low and does
not allow the output stage to be operated.
The supply unit refuses to charge the DC bus.
Cause Remedy
Ambient temperature too low. The specified performance Increase ambient temperature by means of appropriate
data apply at an ambient temperature of 0 °C and above measures

8.7.21 F2021 Motor temperature monitor defective

The function of the temperature sensor used for motor temperature

monitoring is cyclically monitored by the drive, as soon as the drive is ready
for power output ("Ab").
Motors MSK, MAD, MAF When the voltage level of the temperature sensor is outside of the allowed
range of values, the error F2021 is output for Rexroth motors of the MSK,
MAD or MAF lines.
Motors MHD, MKD, MLF, LSF When a voltage suggesting a temperature sensor defect or a contact error
has been detected at the temperature sensor input for 30 seconds, the error
F2021 is output for Rexroth motors of the MHD, MKD, MLF or LSF lines.
Motors 2AD, ADF, 1MB When a voltage suggesting too low motor temperature, a temperature sensor
defect or a contact error has been detected at the temperature sensor input
for 30 seconds, the error F2021 is output for Rexroth motors of the 2AD, ADF
or 1MB lines.
The drive reacts to F2021 with the error reaction which has been set or it
refuses drive enable.
Cause Remedy
Interruption or short circuit in line for motor temperature Check motor connection and cable for interruption and short
monitoring circuit
Temperature sensor in motor is defective Use replacement temperature sensor (if available) or
replace motor
Only for Rexroth motors of lines 2AD, ADF or 1MB: Observe minimum allowed ambient temperature (see
Motor temperature stays below allowed ambient documentation of respective motor line)
temperature range
Drive controller is defective Replace drive controller or power section
Error messages
See also Functional Description of firmware " Motor Temperature

Monitoring".
CiA error code: 718B
8.7.22 F2022 Device temperature monitor defective

The function of the temperature sensor used for device temperature

monitoring is cyclically monitored.
When a temperature equal to or less than -20 °C (as of MPx17: -40 °C) has
been measured for 30 seconds, a defect is supposed to have occurred and
the F2022 error is output.
Cause Remedy
Sensor in drive controller is defective Replace drive controller or power section

CiA error code: 718D
8.7.23 F2025 Drive not ready for control

When setting drive enable, the drive must be ready; i. e. it must signal drive
status "Ab" [in device status word (P-0-0115) bit 15="1" and bit 14="0" must
be set].
However, if the drive only signals "bb" (ready for operation), the drive
generates this error message.
Cause Remedy
Drive enable (AF) was indicated before power supply was Check logic for activating drive in connected control unit
switched on
- or -
Drive enable (AF) was indicated although drive is still in
parameterization mode
Safety function "Safe torque off" (STO) is active First deselect safety function before drive enable is set
E-Stop function is active as warning E4034. First deselect E-Stop before drive enable is set
Module bus reaction E8058 is active; i. e. axis is locking First, bring drives in module group to an error-free state
drive enable because another drive in drive package is before setting drive enable
signaling an error
Error messages

8.7.24 F2026 Undervoltage in power section

The DC bus voltage value is monitored by the drive controller and the supply
unit.
Cause Remedy
Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit
means of drive enable ("AF")
Failure in power supply or overload of power supply Check power supply; for HCS02, particularly check wiring of
mains supply to connection X3
Mains failure Check cause of mains failure, switch mains voltage on again
Temporary supply unit overload Reduce processing cycle of machine
See also Functional Description of firmware "Power Supply"

8.7.25 F2027 Excessive oscillation in DC bus

Excessive voltage oscillation occurs in the DC bus for several minutes.

The monitoring function is used to protect the motor-side power output stage
against overheating.
Cause Remedy
One mains phase has failed. Check mains connection. Check allowed power
consumption for single-phase operation.
Drive oscillates. Oscillation might possibly not be Check command torque of drive to know whether it
mechanically visible, therefore check command torque. corresponds to expected load cycle. Check settings of
velocity control loop and position control loop.
On mains side, allowed power is exceeded. Check consumed power of controller or drive system. If
necessary, use additions DC bus capacitors, mains choke or
DC bus choke.
Drive loads DC bus impulsively Check application

Error messages
8.7.26 F2028 Excessive deviation

If the position control loop is closed, the drive monitors whether or not it can
follow the preset position command value. For this purpose, a model position
feedback value is calculated in the drive and compared to the actual position
feedback value. If the difference between the calculated and actual position
feedback value exceeds the value entered in "S-0-0159, Monitoring window",
the drive apparently cannot follow the preset command value and the error
F2028 is generated.
The maximum deviation between the calculated and real position

feedback value can be read in "P-0-0098, Max. model deviation".
Cause Remedy
Parameterized monitoring window is too small Check and, if necessary, correct content of "S-0-0159,
Monitoring window"
Command acceleration too high due to incorrect command Reduce acceleration input of control unit (see control unit
value input by control unit manual)
Numerical value in "S-0-0092, Bipolar torque/force limit Check content of "S-0-0092, Bipolar torque/force limit value"
value" too low and set it to the maximum value allowed for the application
The axis is blocked or sluggish Check mechanical system and remove sluggishness
Faulty or non-optimized control loop parameters Check control loop setting (e.g., "S-0-0104, Position
controller Kv-factor", "S-0-0100, Velocity controller
proportional gain", "P-0-0556, Control word of axis
controller")
The drive acceleration capacity was exceeded Check drive sizing

8.7.27 F2031 Encoder 1 error: Signal amplitude incorrect

The signals of the measuring system (encoder 1) are monitored on hardware

and software level with regard to their amplitudes and signal shape. If a
signal (e.g., sin or cos) leaves the thresholds monitored by the hardware or if
the signals are disturbed in such a way that a position error occurs, the error
F2031 is generated in conjunction with the function "redundant motor
encoder". In this case, the controller switches the internal signal paths of the
encoder evaluation so that both parameter "S-0-0051, Position feedback 1
value" and parameter "S-0-0053, Position feedback 2 value" receive the
signals of encoder 2 (activated as redundant motor encoder). The signal path
for the commutation of the motor is switched, too.
Error messages
As of MPx17: As an alternative, the warning "E2031 Encoder 1

warning: Signal amplitude incorrect" can be configured for this
error case (via P-0-0173, list element 0).
As the position of the measuring system is no longer generated

correctly when this error is detected, it is necessary to initialize
the encoder again.
The error can only be cleared in the parameter mode (PM).
Cause Remedy
necessary


8.7.28 F2032 Validation error during commutation fine adjustment

When a synchronous motor with incremental measuring system is homed,

the value of "P-0-0521, Effective commutation offset" is converted to the
home point reference and compared to the optimized commutation offset in
"P-0-0508, Commutation offset". If the deviation determined due to this
comparison is too great, the error F2032 is generated and the drive is shut
down.
If the deviation is too great, the operational safety of the motor is

no longer guaranteed because a "runaway effect" of the motor
can occur.
Cause Remedy
Initial commissioning was not or incompletely carried out. Carry out initial commissioning
Motor encoder was replaced Carry out initial commissioning
Error messages
Cause Remedy
Motor connections (U, V, W) were mixed up. Check and if necessary correct motor connection.
Values in "P-0-0508, Commutation offset" and/or "P-0-3008, Check value stored in "P-0-0508, Commutation offset"; carry
Commutation offset, encoder memory" were manipulated. out initial commissioning again, if required.
See also Functional Description of firmware "Establishing the Position Data

Reference (Drive-Controlled Homing)".
8.7.29 F2036 Excessive position feedback difference

In cyclic operation, the difference between actual position value 1 and actual
position value 2 (see also "P-0-0391, Actual position value difference
encoder1 - encoder2") is compared to "S-0-0391, Monitoring window
feedback 2". If the absolute value of the difference is greater than the
monitoring window and both encoders have been homed, the error F2036 is
generated.
The drive carries out the error reaction parameterized in "P-0-0119, Best
possible deceleration" and the reference bits of both encoders are cleared
("S-0-0403, Position feedback value status").
The monitoring function is inactive if the value "0" was entered in

"S-0-0391, Monitoring window feedback 2".
With activated measuring wheel mode, the parameter "S-0-0391,

Monitoring window feedback 2" is inactive. In this case,
monitoring takes place via "P-0-0244, Monitoring window of slip in
%".
Cause Remedy
Parameters for encoder 2 incorrect Check "S-0-0115, Position feedback 2 type" and "S-0-0117,
Resolution of feedback 2"
Mechanical system between motor shaft and encoder 2 Check "S-0-0121, Input revolutions of load gear", "S-0-0122,
incorrectly parameterized Output revolutions of load gear" and "S-0-0123, Feed
constant"
Mechanical system between motor shaft and encoder 2 is Increase "S-0-0391, Monitoring window feedback 2", switch
not rigid (e.g., gear backlash, slip) and monitoring window is off in the case of gear with slip
too small
Maximum allowed slip exceeded with active measuring Check or switch off "P-0-0244, Monitoring window of slip in
wheel mode %"
Encoder cable defective Replace encoder cable
Maximum input frequency of encoder interface exceeded Reduce velocity
Encoder 2 not mounted to driven axis Set "S-0-0391, Monitoring window feedback 2" to "0" (switch
monitoring function off)
Error messages
Cause Remedy
Incorrect encoder gear settings Check relevant encoder parameters and correct them, if
necessary:
● "P-0-0121, Gear 1 motor-side (motor encoder)" /
"P-0-0122, Gear 1 encoder-side (motor encoder)"
● "P-0-0124, Gear 2 load-side (optional encoder)" /
"P-0-0125, Gear 2 encoder-side (optional encoder)"
● "S-0-0121, Input revolutions of load gear" /
"S-0-0122, Output revolutions of load gear"
Position data reference of an absolute encoder incorrect Execute "S-0-0447, C0300 Set absolute position procedure
command"

8.7.30 F2037 Excessive position command difference

When the drive is running in the operation mode "position control with cyclic
command value input", the incoming position command values (cf.
"S-0-0047, Position command value") are monitored. If the position difference
between two successive position command values is greater than or equal to
the value in "S-0-0091, Bipolar velocity limit value", the position command
value monitor is activated and the error F2037 is generated, if this has been
configured via the list parameter "P-0-0173, List of configurable axis-specific
monitoring functions" in list element 1.
As of MPx17: As an alternative, the warning "E2037 Excessive

position command difference" can be configured for this error
case (via P-0-0173, list element 1).
The excessive position command value is stored in parameter

"P-0-0010, Excessive position command value".
The last valid position command value is stored in parameter
"P-0-0011, Last valid position command value".
Cause Remedy
Value in "S-0-0091, Bipolar velocity limit value" too low Check and, if necessary, correct parameterization of
"S-0-0091, Bipolar velocity limit value"
Drive does not meet the external target value specification Approve target value modification only if P-0-0115, bit 3="1"
(P-0-0115, bit 3="0")
Incorrect command value set by control unit Contact control unit manufacturer or programmer

Error messages

8.7.31 F2040 Device overtemperature 2 shutdown

A switch-off value for the second temperature sensor is stored in element 3 of

parameter "P-0-4059, Electric type data of power section".
If parameter "P-0-0816, Amplifier temperature 2" exceeds the switch-off
value, the error F2040 is generated and the device is switched off.
Cause Remedy
are valid up to an ambient temperature of 40 C. cabinet.
Heat sink of device is dirty. Clean heat sink
position in control cabinet. ventilating heat sink.
Blower of device is defective. Replace device

8.7.32 F2042 Encoder 2: Encoder signals incorrect


signal (sin or cos) leaves the allowed range or if the signals are disturbed in
such a way that a position error occurs, this error is generated. For digital
measuring systems, the transmission of the position is monitored by means
of a checksum (CRC). If a checksum error is detected, this error is
generated.

their levels.
As of MPx17: As an alternative, the warning "EE2042 Warning

encoder 2: incorrect encoder signals" can be configured for this
error case (via P-0-0173, list element 2).
Error messages

the encoder again.
The error can only be cleared, when the signals of the encoder
are in the allowed range or the drive is in the parameter mode.
Cause Remedy
necessary

See also "E2075 Encoder2: encoder signals disturbed"

8.7.33 F2043 Measuring encoder: Encoder signals incorrect

The signals of the measuring system (measuring encoder) are monitored on

If a signal (e.g., sin or cos) leaves the allowed range or if the signals are
disturbed in such a way that a position error occurs, this error is generated.
For digital measuring systems, the transmission of the position is monitored
by means of a checksum (CRC). If a checksum error is detected, this error is
generated.

their levels.
As of MPx17: As an alternative, the warning "EE2043 Warning

measuring encoder: incorrect signal amplitude" can be configured
for this error case (via P-0-0173, list element 3).
Error messages

the encoder again.
The error can only be cleared, when the signals of the encoder
are in the allowed range or the drive is in the parameter mode.
Cause Remedy
necessary

See also "E2076 Measuring encoder: encoder signals disturbed"

8.7.34 F2048 Low battery voltage (encoder)

Up to firmware version 19, the name of this diagnostic message

was "F2048 battery undervoltage".
For MSM series Rexroth motors, the absolute position information is

maintained, even when the drive controller has been switched off. This is
ensured by an encoder cable-integrated battery that buffers the encoder data
in case voltage is switched off.
The battery was designed for a service life of 10 years in its

installed state for a machine running in three-shift operation.
The battery voltage is checked in the transition command from parameter to

operating mode during the initialization of the drive.
As long as the drive is locked with a customer password, the error

F2048 cannot be cleared!
Error messages
CAUTION Error caused by battery undervoltage when

controlling motors and moving parts!
The absolute encoder function is no longer ensured when the error occurs!
Replace battery immediately!
Cause Remedy
Battery voltage has fallen below allowed value Clear error and immediately arrange for and prepare battery
to be replaced. [Battery replacement is described in the
Project Planning Manual "Rexroth IndraDrive Cs" (index
entry "Battery, replacement").]
MPx-18 and above: If E2048 is generated, the battery is not
replaced and the 24 V control voltage is switched off, the
drive signals F2048 after restart and during phase switch to
"OM" or "P4". The reference to the mechanical system is
hereby cleared.
See also Functional Description of firmware "Establishing the position data

reference"
00510243
00510244

8.7.35 F2050 Overflow of target position preset memory

In the case of drive-controlled positioning it is possible to preset a new

positioning command value x(k+1) while the drive is moving to the target
position of the last positioning command value x(k). The new positioning
command value is stored in an input buffer (target position preset memory)
and is not cleared until it has been accepted.
Cause Remedy
There was an attempt to preset a new positioning command Check command value in control unit and make sure that
value x(k+2) while drive was moving to target position of new positioning command value x(k+2) is only preset when
positioning command value x(k) positioning command value x(k+1) was accepted and drive
moves to corresponding target position
Incorrect command value acceptance (toggling of "S-0-0346, Check control program and only toggle bit 0 of "S-0-0346,
Positioning control word") in control unit causes positioning Positioning control word" once for each new positioning
command value to be accepted several times command value, because every change of the bit causes
current positioning command value to be accepted.
Incorrect positioning mode for "approaching target" was set Set positioning mode "immediately moving to new target" for
in "S-0-0346, Positioning control word". "approaching target" in "S-0-0346, Positioning control word".
See also Functional Description of firmware "Drive-Controlled Positioning".

Error messages

8.7.36 F2051 No sequential block in target position preset memory

In the case of the positioning block mode "sequential block without

intermediate stop" the drive is monitoring whether a new positioning block is
available in the target position preset memory when the target position has
been reached.
Cause Remedy
When target position of a sequential block has been Preset sequential block in time (before target position has
reached, there is no new positioning block in target position been reached)
preset memory
Positioning block mode by mistake set to "sequential block Check positioning block mode and switch off sequential
without intermediate stop". block processing, if necessary ("S-0-0346, Positioning
control word").

● "Drive-Controlled Positioning"
8.7.37 F2053 Incr. encoder emulator: Pulse frequency too high

In the drive, the number of the increments or lines output within the position
loop cycle (Basic: TA = 500 µs, Advanced: TA = 250 µs) is monitored to
make sure that the maximum allowed frequency of the incremental encoder
signals of 4,000 kHz is not exceeded; otherwise, a position offset would occur
due to "lost increments".
The maximum allowed frequency of the incremental encoder

signals must also be taken into account for the design of the
subsequent evaluation electronics in the control unit!
Cause Remedy
Resolution set in "P-0-0901.x.3, Encoder emulation Reduce number of increments of incremental encoder
resolution" is too high for travel velocity emulator in "P-0-0901.x.3, Encoder emulation resolution"
- or -
Reduce travel velocity
See also Functional Description of firmware "Incremental Encoder Emulation"

Error messages

8.7.38 F2054 Incr. encoder emulator: Hardware error

With incremental encoder emulation, a check is run at the end of each output
interval (= position loop clock) to find out whether all increments to be output
have been output before the next increment output is started. Exceeding the
runtime or hardware errors can cause overlapping that is detected during the
check and signaled by the error F2054.
Cause Remedy
Runtime internally exceeded Switch off all functions which are not required (e.g. analog
output). If this does not help to remove the error, replace
control section or entire drive controller and inform our
service department
Hardware error Replace control section or entire drive controller and inform
our service department


8.7.39 F2055 External power supply dig. I/O error

Contained in 19VRS: «MPB» «-» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «PSB»
During "High" control of one or more digital outputs of the interface X37
(digital inputs/outputs) on the optional module "DA", no "High" signal
(+24 VDC) is output.
The error can only be deleted if the external voltage supply is

without fault.
Cause Remedy
Overloaded output or outputs Reduce the load on the output

24 V supply of the X37 interface is not connected Connect 24 V supply
Short-circuited output and/or outputs Remedy short circuit(s)
See also functional description of firmware "Digital Inputs/Outputs"

Error messages

00370046

8.7.40 F2056 Overload at dig. I/Os

Allocation Contained in 16VRS: «-» «-» «MPM»
Contained in 17VRS: «-» «-» «MPM» «-»
Contained in 18VRS: «-» «-» «MPM» «-»
Contained in 19VRS: «-» «-» «MPM» «-» «-»
Contained in 20VRS: «-» «-» «MPM» «-» «-»
No "high" signal (+24 VDC) is output despite "high" control of one of several
digital outputs of the digital I/O extension at optional module "OM1"/"OM2".
The error can only be cleared when the cause of the error has
been removed.
Cause Remedy
Overloaded output or overloaded outputs Reduce load on output or outputs

Short-circuited output or short-circuited outputs Remedy short circuit(s)
Wiring error Correct wiring
Hardware defective Replace hardware

8.7.41 F2057 Target position out of travel range

In operation modes with internal position command value generation a check

is run, before a movement is carried out, in order to find out whether the
preset target position ("S-0-0258, Target position", S-0-0282, Positioning
command value or P-0-4006, Positioning block target position [i]) is within the
allowed travel range of the drive. The error F2057 was generated because
the preset target position is outside of the allowed travel range.
The allowed travel range of the drive is defined by
● S-0-0049, Positive position limit value
● S-0-0050, Negative position limit value
● S-0-0278, Maximum travel range
The position limit value monitor and thus the monitoring of the allowed travel
range can be activated / deactivated in "S-0-0055, Position polarities".
The reaction to a travel range error can be set in "P-0-0090, Travel range
limit parameter".
Error messages
Cause Remedy
Position limit values ("S-0-0049, Positive position limit Check parameterization of position limit values and adjust it
value", "S-0-0050, Negative position limit value") incorrectly according to desired travel range ("S-0-0049, Positive
parameterized position limit value" has to be greater than "S-0-0050,
Negative position limit value")
Position limit value monitor has been activated although it is Deactivate position limit value monitor if it is not needed
not needed (e.g., in modulo operation)
In the case of relative interpolation, value for travel range Check preset travel range (cf. "S-0-0258, Target position")
was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program
cause effective target position (cf. "S-0-0430, Effective target
position") to be outside of position limits
In the case of absolute interpolation, preset target position is Check preset target position (cf. "S-0-0258, Target position"
incorrect or "S-0-0282, Positioning command value") and, if
necessary, adjust it in control unit program (only enter
"S-0-0258, Target position" within position limit values)
In "positioning block mode" one or more target positions Check parameterized target positions in "P-0-4006,
have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection
block is selected (P-0-4026, Positioning block selection). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).
See also Functional Description of firmware "Position Limitation/Travel

Range Limit Switches"
For "relative interpolation", see Functional Description of firmware "Drive-
Controlled Positioning"
For "absolute interpolation", see Functional Description of firmware "Drive-
Internal Interpolation"
8.7.42 F2058 Internal overflow by positioning input

In operating modes that are using the internal path generator (interpolation,
positioning, positioning block mode and spindle positioning), the residual path
to be traveled and the braking distance are monitored to find out whether the
numeric range is exceeded.
Error messages
Cause Remedy
Due to command value input a residual path was generated Check command value input, positioning velocity or
that is greater than 2^31. potentiometer value
Note:
As the internal position resolution is determined by the travel
range (from -travel range to +travel range the resulting max.
distance is less than 2^31), this can only occur with axes
with modulo scaling. In this case only if relative distances
are stringed together several times without the axis being
able to follow.
Calculated braking distance is greater than 2^31 Increase "S-0-0278, Maximum travel range"
- or -
Increase deceleration in "S-0-0359, Positioning
deceleration", "S-0-0372, Drive Halt acceleration bipolar" or
"P-0-4063, Positioning block deceleration".

8.7.43 F2059 Incorrect command value direction when positioning

In the operating modes "drive-controlled positioning" and "positioning block

mode" it is possible to jog the axis in both directions and preset relative
distances in both directions.
If "S-0-0076, Position data scaling type" was set in such a way that the
position data of the axis are to be processed in modulo format and positive or
negative rotational direction was selected in "S-0-0393, Command value
mode", a command value in the wrong direction causes error F2059 to be
generated.
Cause Remedy
In operating mode "drive-controlled positioning", target Check relative positioning input ("S-0-0282, Positioning
position points to wrong direction. command value")
Rotational direction of "modulo axis" incorrectly Check command value mode that was set ("S-0-0393,
parameterized for drive-controlled positioning procedures Command value mode")
In operating mode "positioning block mode", target position Check relative positioning input ("P-0-4006, Positioning
points to wrong direction. block target position").
You are trying to jog in wrong direction. Jogging only in allowed rotational direction ("S-0-0346,
Positioning control word")

● " Drive-Controlled Positioning"
● " Positioning Block Mode"
Error messages
8.7.44 F2063 Internal overflow master axis generator

The residual path to be traveled and the braking distance are monitored to
find out whether the numeric range is exceeded.
Cause Remedy
Braking distance of axis is greater than position value range Increase "P-0-0771, Virtual master axis, positioning
that can be displayed. acceleration"
Deceleration value that was set ("P-0-0771, Virtual master
axis, positioning acceleration") is too low.
Braking distance of axis is greater than position value range Reduce "P-0-0770, Virtual master axis, positioning velocity"
that can be displayed.
Velocity value that was set ("P-0-0770, Virtual master axis,
positioning velocity") is too high.

8.7.45 F2064 Incorrect cmd value direction master axis generator

With the internal master axis generator it is possible to jog the virtual master
axis in both directions and preset relative distances in both directions.
Cause Remedy
Due to setting in "P-0-0756, Virtual master axis, scaling Input command value direction according to parameter
type", position data of virtual master axis are to be setting in "P-0-0769, Virtual master axis, command value
processed in modulo format and positive or negative mode".
rotational direction was selected in "P-0-0769, Virtual master
axis, command value mode". Input command value leads to
wrong direction.

8.7.46 F2067 Synchronization to master communication incorrect

Drive control is synchronized via two phase control loops (Phase Locked
Loop - PLL) on the bus interface (sercos, PROFIBUS, INTERBUS,…).
Monitoring the proper function of synchronization means monitoring the
respective control deviation of the two PLLs for an allowable threshold. If it is
exceeded, this error message is generated.
Error messages
Cause Remedy
Incorrect couplings due to faulty connection of master Check and, if necessary, correct connection of master
communication result in synchronization problems communication (including shield)
Synchronization cycle of master fluctuates severely due to Check field bus master and ensure a clean, constant
software or hardware error in master (e. g. jittering of MST synchronization cycle
for sercos)
Master communication hardware (e. g. optional sercos Replace control section or entire drive controller
module) of the drive controller is defective

See also Functional Description of firmware "Master Communication"

8.7.47 F2068 Brake error

The holding brake current is monitored when the holding brake has been
controlled. If the holding brake current is outside of the allowed range, the
error F2068 is generated.
Furthermore, the holding brake of controllers of the IndraDrive Cs type is
monitored for wire break. If wire break has occurred, the error F2068 is
generated, too.
If the activation of brake control causes problems with wire break monitoring,
wire break monitoring can be deactivated (see "P-0-0525, Holding brake
control word").
Cause Remedy
Supply voltage for holding brake has not been correctly Check the supply voltage
connected or is outside of tolerance (24 V +/-5 %)
Motor cable has been incompletely connected ● Check motor cable
● Check whether motor cable shield has been connected
over a large surface at the controller
Motor holding brake is defective Replace motor
Drive controller is defective Replace drive controller
Controllers of type IndraDrive Cs: The error F2068 can only be

cleared by switching off the supply voltage for the holding brake!
See also Functional Description of firmware "Motor holding brake"

Error messages

8.7.48 F2072 Error in power supply of brake

The error is triggered, when the supply voltage of the motor holding brake
leaves its allowed range.
Cause Remedy
Error in control voltage supply Check wiring of control voltage. Check whether control
voltage has dropped. Check sizing of power supply unit. If
necessary, replace power supply unit.
Distributed drive controllers "KMS" only: Error in wiring of Check wiring of brake control lines
brake
Distributed drive controllers "KMS" only: Faulty brake Check brake
Distributed drive controllers "KMS" only: Brake incorrectly Check sizing of brake
sized
Hardware defective Replace controller or motor/controller unit

See also Project Planning Manual of "Rexroth IndraDrive Mi"
8.7.49 F2074 Actual pos. value 1 outside absolute encoder window

When switching off a drive with a motor encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When
switching the drive on again, the current position is compared to the position
stored when the drive was switched off the last time. If the deviation is
greater than the value in "P-0-0095, Absolute encoder monitoring window for
motor encoder", the error message F2074 is generated.
The monitoring function can be switched off by "P-0-0095,

Absolute encoder monitoring window for motor encoder"="0".
Error messages
Cause Remedy
While switched off, axis was moved by more than value Make sure displayed position is correct in relation to
entered in "P-0-0095, Absolute encoder monitoring window machine zero point. Then clear error and, if necessary,
for motor encoder". reestablish position data reference
Value entered in "P-0-0095, Absolute encoder monitoring Check parameterization of "P-0-0095, Absolute encoder
window for motor encoder" is too low for existing encoder monitoring window for motor encoder" and increase
resolution so that normal encoder jitter already causes monitoring window
monitor to be triggered
Amplifier replaced without parameter update Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed Clear error and establish position data reference
constant, ...)
Motor encoder defective Replace motor or motor encoder
WARNING Risk of accident caused by unwanted axis

motion!
⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the motor and send it to the manufacturer's
service department for inspection.


When switching off a drive with an optional encoder that can be evaluated in
opt. encoder", the error message F2075 is generated.
By means of "P-0-0096, Absolute encoder monitoring window for

opt. encoder", the monitoring function can be switched off.
Cause Remedy
for opt. encoder" reestablish position data reference
window for opt. encoder" is too low for existing encoder monitoring window for opt. encoder" and increase monitoring
resolution so that normal encoder jitter will already cause window
monitor to be triggered.
Encoder defective or encoder replacement Replace encoder, clear error and establish position data
reference
Error messages
Cause Remedy
constant, ...)
WARNING Risk of accident caused by unintended axis

motion!
reference is incorrect! Replace the encoder and send it to the manufacturer's


When switching off a drive with a measuring encoder that can be evaluated in
measuring encoder", the error message F2076 is generated.
The monitoring function can be switched off by "P-0-0097,

Absolute encoder monitoring window for measuring encoder"="0".
Cause Remedy
for measuring encoder". reestablish position data reference
window for measuring encoder" is too low for existing monitoring window for measuring encoder" and increase
encoder resolution so that normal encoder jitter already monitoring window
causes monitor to be triggered
Encoder defective or encoder replacement Replace encoder, clear error and establish position data
reference
constant, ...)
Error messages
WARNING Risk of accident caused by unwanted axis

motion!
reference is incorrect! Replace the encoder and send it to the manufacturer's

8.7.52 F2077 Current measurement trim wrong

The current measurement in the drive controller is adjusted in operation. The

adjust values are checked for compliance with the allowed tolerance. If the
values are higher the error message F2077 is generated.
Cause Remedy
Hardware of control section or power section defective. Replace power section or control section resp. entire drive
controller.

allowed to replace the control section or the power section. The
replacement of the entire drive controller is described in the

8.7.53 F2086 Error supply module

This error is signaled by the supply to the drives via the module bus. It has
high priority and...
● causes error reaction in the drives in operation. The error message is
displayed at these drives.
● causes power of the supply unit to be switched off or the Bb contact of
converters to open and possibly causes DC bus short circuit (requires
corresponding wiring!).
This error can also have been caused by a drive error that was signaled to
the supply via the module bus. The respective settings must be made in
"P-0-0118, Power supply, configuration".
Error messages
Cause Remedy
Failure in power supply or overload of power supply Check power supply

Error message of one or several drives of a drive system Identify drive or drives signaling an error. Remove cause of
and message signaled to supply (configuration P-0-0118) error at respective drive or drives

8.7.54 F2087 Module group communication error

Cause Remedy
Failure of control voltage supply of a module bus node while Supply all devices of "drive system" with control voltage.
the "drive system" is ready for power output or in operation.
Disturbance on module bus Identify and remove sources of disturbance
Incorrect signal timing on module bus Identify and replace faulty device.
Module bus cable defective Identify and replace defective module bus cable, replace
device, if necessary.

8.7.55 F2100 Incorrect access to command value memory

An error occurred when the command value memory (flash/internal memory)

was accessed.
Cause Remedy
Sporadically occurring failure (firmware error) Clear error and contact customer service to ask for firmware
update
Hardware in control section defective If error occurs repeatedly, replace control section or entire
drive
Programming module defective If error occurs repeatedly, replace programming module

Error messages

8.7.56 F2101 File system structure error on the memory card

Access to the external memory card is not possible because the file system
structure is defective.
Initialization was aborted; booting of the drive is continued.
Cause Remedy
File system structure is defective. Following causes are NOTICE! The action described below may lead to data loss;
possible: the user is responsible for taking this action.
● Voltage was interrupted during write access to memory Insert memory card in PC and execute CHKDSK
card [drive:] /F to correct error on memory card ([drive:]
● Memory card or control panel was removed during identifies drive containing memory card).
write access

8.7.57 F2102 It was impossible to address I2C memory

When addressing a memory via the I2C bus an error occurred.
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective. Clear error. Replace encoder or motor
Hardware defect on control section Replace control section or entire drive controller

See also Functional Description of firmware "Measuring Systems"

Error messages
8.7.58 F2103 It was impossible to address EnDat memory

When addressing a memory via the EnDat bus an error occurred.
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor.
Hardware defect on control section Replace control section or entire drive controller.

See also Functional Description of firmware "Measuring Systems".

8.7.59 F2104 Commutation offset invalid

The commutation offset value stored in the motor encoder memory was
detected to be invalid.
The motor mustn't be operated without valid commutation offset!
Cause Remedy
Failure occurs sporadically (firmware error) Clear error. Then execute command "P-0-0524, C1200
Commutation offset setting command"; if error occurs again
contact our service department in order to get a firmware
update.
Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Then execute
command "P-0-0524, C1200 Commutation offset setting
command".

Error messages
8.7.60 F2105 Cannot address OEM encoder memory

Up to and including MPx19, the name of this diagnostic message

was "F2105 It was impossible to address Hiperface memory".
An error has occurred whe addressing the encoder memory of an OEM

encoder.
Cause Remedy
Sporadically occurring failure (firmware error) Clear error and contact our service department to get a
firmware update
Defective encoder cable or bad shielding Clear error. Replace defective encoder cable or improve
shielding
Defective encoder memory or encoder electronics Clear error. Replace encoder or motor

allowed to replace the control section. The Project Planning
Manual for the power section describes how to replace the entire
drive controller, the Functional Description of the firmware
explains how to save and load the parameters.
See also Functional Description of firmware "Measuring systems"

8.7.61 F2106 Power section error

Collective message for non-fatal power section errors, which are transmitted
by the power section. The diagnostic number transmitted by the power
section is entered in the log book.
Cause Remedy
section

8.7.62 F2107 Incorrect commutation angle

"P-0-0509, Commutation offset coarse" takes effect as the commutation

angle for Rexroth linear motors, after the relative measuring system was
Error messages
initialized (PM→OM transition, e.g. by switching the axis to ready for

operation). However, the motor is only operational if the axis slide was in a
defined initial position!
The defined initial position of the axis slide is signaled to the controller via an
axis limit switch being activated. The switch signal has to be assigend to the
corresponding bit of "P-0-0522, Control word for commutation setting" and
the switching state has to have been configured.
The error "F2107 Incorrect commutation angle" is only signaled

when "AF" is set. The error can only be reset in the parameter
mode (PM).
Cause Remedy
During the PM→OM transition, the axis slide is not in the 1. Switch axis to PM.
defined initial position required for the motor function! 2. Clear error.
3. Bring axis slide to defined initial position to activate the
axis limit switch.
(The switching state is displayed in "P-0-0522, Control
word for commutation setting".)
4. Switch axis to OM.
See also Functional Description of firmware "Commutation setting"

8.7.63 F2110 Error in non-cyclical data communic. of power section

An error occurred in the communication between control section and power

section.
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department for firmware
update
Hardware defective Should error occur repeatedly, control section or entire
device has to be replaced


Error messages
8.7.64 F2120 Memory card could not be initialized

Access to the memory card is not possible.

Initialization was aborted; booting of the drive is continued.
Cause Remedy
Memory card inserted incorrectly or defective Clear error, check memory card or insert correctly, and
reboot drive.
If error occurs again on access to memory card, replace
memory card.
Memory card formatted incorrectly 1. Switch drive off.
2. Use PC to format memory card with FAT16. NOTICE!
When memory card is formatted, all data stored on it is
lost. Before formatting the memory card, save the data
which has been stored on it.
3. Insert memory into the slot provided at the drive
controller control panel.
Memory card used is no Rexroth card Use a Rexroth memory card; foreign cards may cause driver
failures on initialization.

8.7.65 F2131 Incorrect switching state of probe 1 input signal

Switch-on level monitoring for probe 1 was configured via

P-0-0226.
An incorrect switching state has been discovered in the monitoring of the

probe 1 input.
Error messages
Cause Remedy
In the configuration of probe control parameter (S-0-0169), a 1. Remove probe enable

positive edge at input of probe 1 triggers recording of a 2. Clear error
measured value.
3. Create low level at input of probe1
When probe enable was activated there was already a "1" at
input of probe 1 (S-0-0401). 4. Set probe enable again
In the configuration of probe control parameter (S-0-0169), a 1. Remove probe enable

negative edge at input of probe 1 triggers recording of a 2. Clear error
measured value.
3. Create high level at input of probe1
When probe enable was activated there was already a "1" at
input of probe 0 (S-0-0401). 4. Set probe enable again
- or -
Eliminate wire breakage
See also Functional Description of firmware "Probe function"

CiA error code: 73A0
8.7.66 F2140 CCD slave error

An error has occurred in a CCD slave.
Cause Remedy
An F2 or F3 error has occurred in a CCD slave and "error Locate faulty slave and remove cause of error for this slave
reaction active" has been set in P-0-1800.0.1/P-0-1600
(CCD: Configuration)
An F8 error has occurred in a CCD slave and "best possible Locate faulty slave and remove cause of error for this slave
deceleration" has been set in P-0-1800.0.1/P-0-1600 (CCD:
Configuration) as the reaction to an F8 error
The commanding of a remote axis is faulty in the MLD-M Locate faulty function block and remove error using the
master. (For example, motion function block function block error outputs
"MC_MoveRelative" with "Acceleration"=0)

8.7.67 F2150 MLD motion function block error

During command triggering with a motion function block an error occurred.
The reaction to errors can be configured.

Error messages
The error message F2150 is available as of firmware MPx04V10.
Cause Remedy
Faulty command triggering in MLD-S (single-axis Locate faulty function block and remove error by means of
application) function block error outputs.
- or -
Faulty command triggering of local axis (axis1) in MLD-M
master. (For example, motion function block such as
"MC_MoveRelative" with "Acceleration"=0).
See also Application Manual Rexroth IndraMotion MLD "Error Handling of

IndraMotion MLD".
8.7.68 F2174 Loss of encoder 1 reference

Up to and including the firmware 19VRS, the name of this

diagnostic message was "Loss of motor encoder reference".
With absolute encoder evaluation, the validity of the initialized absolute

position is checked during position initialization. If the controller detects that
the position data reference of the encoder can no longer be established due
to changes in the mechanical parameters or replacement of the encoder or
device, the position feedback value status (S-0-0403) goes to "relative" and
the error F2174 is generated.
Cause Remedy
Switched on without reference Clear error and establish position data reference again.
(at initial commissioning or caused, e.g., by changes to
parameters that characterize the mechanical system or
affect position evaluation)
Switched on without reference Clear error and establish position data reference.
(after motor or encoder was replaced)
Encoder defective Replace motor or encoder, clear error and establish position
data reference.
Change in parameters of mechanical system (gearbox, feed Clear error and establish position data reference.
constant, ...)
Amplifier replaced without parameter update Clear error and establish position data reference.
Error messages
Cause Remedy
Switched on without reference after replacing device with Clear error and establish position data reference.
loaded, axis-specific parameter values (according to list from - or -
"S-0-0192, IDN-list of backup operation data")
Clear error, then load parameter values of "P-0-0195, IDN
list of retain data (replacement of devices)", if it had been
possible to save them directly before the device was
replaced. Check correctness of restored position data
reference.
F2048 (low battery voltage) was entered in the error memory Re-establish power supply for encoder memory.
(P-0-0192) in addition to F2174 Replace battery (see F2048) or eliminate cable break.
Encoder memory is not supplied with power because battery
power is no longer sufficient or there is cable break in supply
line.

8.7.69 F2175 Loss of encoder 2 reference


diagnostic message was "Loss of optional encoder reference".

device, the position feedback value status ("S-0-0403, Position feedback
value status") goes to "relativ" and the error F2175 is generated.
Cause Remedy
Switched on without reference Clear error and establish position data reference again
(At initial commissioning or caused, e.g., by changes to
Switched on without reference Clear error and establish position data reference
(after encoder was replaced)
Encoder 2 defective Replace encoder, clear error and establish position data
reference
Change in parameters of mechanical system (gearbox, feed Clear error and establish position data reference
constant, ...)
Error messages
Cause Remedy
Switched on without reference after replacing device with Clear error and establish position data reference
loaded, axis-specific parameter values (according to list from - or -
"S-0-0192, IDN-list of backup operation data")
Clear error, then load parameter values of "P-0-0195, IDN
list of retain data (replacement of devices)", if it had been
possible to save them directly before the device was
replaced. Check correctness of restored position data
reference

8.7.70 F2176 Loss of measuring encoder reference


device, it generates the error F2176.
Cause Remedy
(At initial commissioning or caused, e.g., by changes to
Encoder defective Replace measuring encoder, clear error and establish
position data reference
(after measuring encoder was replaced)
Controller replaced without parameter update Clear error and establish position data reference

00510019
0051001C
0051001D
0051001F
00510020
00510021
00510022

Error messages
8.7.71 F2177 Encoder 1 modulo limitation error

Up to firmware 19VRS this diagnostic message was "Modulo

limitation error of motor encoder".
With active modulo scaling, the drive limits its actual position values to the
value parameterized in "S-0-0103, Modulo value", otherwise to the value
parameterized in "S-0-0278, Maximum travel range". As these values
possibly cannot be exactly represented, systematic errors of position overrun
are corrected in the drive.
Ideally, "S-0-0278, Maximum travel range" is selected so that the

drive is always within the defined travel range and there is no
overrun.
Cause Remedy
"S-0-0103, Modulo value" or "S-0-0278, Maximum travel Check and, if necessary, correct "S-0-0103, Modulo value"
range" have been incorrectly parameterized and not and "S-0-0278, Maximum travel range".
adjusted to the application.
Drive was moved so rapidly that recalculation no longer Reduce drive velocity at position overrun.
works correctly.

8.7.72 F2178 Encoder 2 modulo limitation error

Up to firmware 19VRS this diagnostic message was "Modulo

limitation error of optional encoder".
Depending on scaling, the drive limits the actual position values to the
maximum travel range or to the modulo value. As these values possibly
cannot be exactly represented, systematic errors of position overrun are
corrected in the drive.
Cause Remedy
The encoder speed was so high that recalculation no longer Reduce encoder speed
works correctly. - or -
Change "S-0-0103, Modulo value"

Error messages
8.7.73 F2179 Modulo limitation error of measuring encoder

Depending on the scaling, the drive limits the measuring encoder position
feedback values to the position range determined by "P-0-0765, Modulo
factor measuring encoder" and "P-0-0084, Number of bits per master axis
revolution", or to the defined modulo value of 360,0000 degrees. See
"P-0-0330, Control word of measuring encoder", bit 2. As these values
possibly cannot be exactly represented, errors are corrected in the drive.
Cause Remedy
The encoder speed was so high that recalculation no longer Reduce encoder speed
works correctly.

8.7.74 F2190 Incorrect Ethernet configuration

During the initialization of the drive, the parameterization of the interfaces for
Ethernet communication is checked. An error was detected during this check.
Error messages
Cause Remedy
Unallowed configuration of parameters for Ethernet Set parameters for Ethernet communication (TCP/IP) to
communication (TCP/IP): valid values:
IP address and gateway address are not in the same IP ● P-0-1531, Engineering: IP address
network ● P-0-1532, Engineering: Network mask
- or - ● P-0-1533, Engineering: Gateway address
IP address and gateway address are identical ● P-0-4089.00.13, Master communication: IP address
● P-0-4089.0.14, Master communication: Network mask
● P-0-4089.00.15, Master communication: Gateway
address
● S-0-1020, Master comm. engineering over IP: IP
address
● S-0-1021, Master comm. engineering over IP: Network
mask
● S-0-1022, Master comm. engineering over IP:
Gateway address
As of MPx17VRS, in addition:
● P-0-1641, CCD: IP address
● P-0-1642, CCD: Network mask
● P-0-1643, CCD: Gateway address
Due to storage problems, internal configuration of IP stack Due to a hardware problem, it is necessary to replace drive
was inadmissibly terminated controller

8.7.75 F2191 No automatic CCD slaves IP configuration

Allocation Contained in 20VRS: «-» «-» «-» «MPC» «-»
The CCD master cannot automatically perform the IP configuration of the

configured CCD slaves. The requirements for the automatic class C network
setting have not been fulfilled.
Cause Remedy
A slave address greater than 250 is used in the CCD ring Set all slave addresses to values smaller than 250
The device address/master communication address of the Set an address smaller than 255 for the CCD master
CCD master has a value greater than 255

8.7.76 F2270 Analog input, wire break

Conditions for triggering this error:

Error messages
● In "P-0-0255, Analog input, hardware configuration" wire breakage

monitoring was activated (during definition for the measuring range of
the analog inputs) and
● "P-0-0255, Analog input, hardware configuration" is set to generate an
error if the input value is not reached (too low) at the analog input, and
● the current/voltage value at the analog input is less than the minimum
value of the measuring range.
The value range of the voltage or current source connected to the

analog input is to be limited to the permissible value range of the
analog input.
Cause Remedy
Input value at analog input is less than minimum value of Check wiring of analog input; if necessary, re-establish
voltage measuring range ("Voltage signals" setting in contact with voltage source
"P-0-0255, Analog input, hardware configuration") - or -
Check value range of voltage source
Input value at analog input is less than minimum value of Check wiring of analog input; if necessary, re-establish
current measuring range ("Current signals" setting in contact with current source
"P-0-0255, Analog input, hardware configuration") - or -
Check value range of current source

8.7.77 F2802 Error in mains synchronization

Synchronization to the mains voltage is not possible.
Cause Remedy
At least one phase is missing Check mains fuses and replace if necessary
The mains voltage is too low Measure the mains voltage and compare it with the
permissible value range
The mains frequency is outside the specified range Measure the mains frequency and compare it with the
permissible value range

8.7.78 F2811 Mains underfrequency

The error message F2811 is generated if the extended supply monitoring has
been activated (S-0-1712.0.150, bit 0="1") and the supply frequency dropped
below the threshold value parameterized in "S-0-1712.0.164, Threshold value
for frequency decline protection f<".
Error messages
Cause Remedy
Supply frequency below the parameterized minimum value Check mains connection
See also Functional Description of firmware "Additional functions for power

supply"
8.7.79 F2812 Mains overfrequency

been activated (S-0-1712.0.150, bit 0="1") and the supply frequency
exceeded the threshold value parameterized in "S-0-1712.0.165, Threshold
value for frequency intensification protection f<".
Cause Remedy
Supply frequency above the parameterized maximum value Check mains connection

supply"
8.7.80 F2813 Mains connection function error

An error occurred in conjunction with the mains connection module (HNA).
Cause Remedy
Error during the DC bus charging process (could also be Check the connections / wiring at the mains connection
caused by short circuit / ground fault or line break of the DC module (HNA) including DC bus wiring
bus)
If a drive controller with motor has been connected to the Check the motor for short circuit to ground (motor phase -
DC bus: Error during the DC bus charging process due to ground)
short circuit to ground at the motor
Error in mains contactor control Check the mains contactor wiring including the acknowledge
message (XG34 / XG40); if necessary, replace mains
contactor
Mains connection module (HNA) is defective Replace mains connection module

8.7.81 F2814 Undervoltage in mains

been activated (S-0-1712.0.150, bit 0="1") and at least one supply phase
Error messages
voltage (effective value) dropped below one of two threshold values during
operation.
These two threshold values are the following:
1. Threshold value determined by "S-0-1712.0.160, Threshold value for
frequency decline protection U<" and the time defined by
"S-0-1712.0.170, Response delay for frequency decline protection U<"
2. Threshold value determined by "S-0-1712.0.161, Threshold value for
frequency decline protection U<<"
Cause Remedy
Supply phase voltage below the parameterized threshold Check the mains voltage
value

supply"
8.7.82 F2815 Overvoltage in mains

The error message F2815 is generated if one of the following errors

occurred:
The mains voltage crest value has risen above the permissible maximum
value.
- or -
The extended supply monitoring has been activated (S-0-1712.0.150, bit
0="1") and at least one filtered supply phase voltage (effective value)
exceeded one of following threshold values during operation:
● S-0-1712.0.162, Threshold value for voltage increase protection U>
● S-0-1712.0.163, Threshold value for voltage increase protection U>>
Cause Remedy
The mains voltage crest value has risen above the Check the mains voltage. Use an impedance matching
permissible maximum value (connection voltage range, see transformer where necessary
documentation "Rexroth IndraDrive ML, drive systems with
HMU05")
Supply phase voltage above the parameterized maximum Check the mains voltage
value

supply"
Error messages
8.7.83 F2816 Softstart fault power supply unit

During the soft start process (loading the DC bus capacity), the course of the
DC bus voltage is monitored. Significant deviations point to a fault in the
power section and are diagnosed with the error F2816.
Cause Remedy
Short-circuit in the DC bus Check DC bus wiring and remove short-circuit if present
Load on the DC bus Check the DC bus wiring and, if there is a faulty connection
on an external braking resistor, correct the connection
Insulation error in the DC bus Check the DC bus wiring. If the wiring is ok, there may be an
insulation error within the device or other devices connected
to the DC bus. To identify the faulty device, gradually
remove the connected devices from the drive system
(remove wiring)
End value of the DC bus voltage is not reached within a Check whether there is a fault on the actuator connected
maximum time externally to the DC bus.
Impermissible voltage fluctuations in the supply network. Check the mains voltage
The mains voltage dropped impermissibly during the soft
start process
HMU05 (used as supply unit), HMV01, HMV02: Thermal Check the number of ON-OFF switching cycles
overload of the soft start switching
HMU05 (used as supply unit): Thermal overload of the Check the cooling of the mains throttles
mains throttles
Device is faulty Replace the device

8.7.84 F2818 Phase failure

A single-phase mains failure, which lasted longer than the tolerated phase
failure time, was detected.
For some devices, phase failure monitoring can be deactivated

via P-0-0860, bit13; for details, please see the Parameter
Description.
Error messages
Cause Remedy
No mains voltage available Check mains voltage and mains connection

Mains circuit breaker defective Replace mains circuit breaker
Incorrect wiring Check and correct wiring

8.7.85 F2819 Mains failure

A mains failure, which lasted longer than the tolerated mains failure time, was
detected for a supply unit of the HMV type or a converter of the HCS/ HCT/
HCQ type.
If the mains failure occurs at regenerative supply units during a

regeneration process to the supply mains, the supply unit
switches off immediately.
Cause Remedy
Mains failure (permanent or temporary) Search and remove cause of mains failure
Mains circuit breakers defective Replace mains circuit breakers

8.7.86 F2820 Braking resistor overload

Power was switched off due to possible overload of the braking resistor.
If the DC bus voltage exceeds the current switch-on threshold of the braking
resistor ("P-0-0833, Braking resistor threshold") as a result of regenerative
operation of the drive, the braking resistor is switched on to limit the DC bus
voltage. The load of the braking resistor is displayed in "P-0-0844, Braking
resistor load". When the load rises to 110%, error F2820 is displayed.
Error F2820 also indicates that no braking resistor has been

connected or that the connected braking resistor is defective. A
value of at least 110% is displayed in "P-0-0844, Braking resistor
load", although in reality there isn't any load present or possible!
Error messages
After having eliminated the cause of the error, check the braking
resistor for operability!
The error can only be cleared, when its cause has been removed.
Cause Remedy
Allowed deceleration of connected drives too high Reduce deceleration of connected drives
Energy absorption capacity of braking resistor is exhausted Switch power supply off with a delay in the case of drive
OFF or E-STOP (for regenerative supply units) or reduce
velocity
Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum velocity
Continuous regenerative power and/or rotary drive energy is Reduce maximum velocity or check dimensioning of braking
too high resistor and, if necessary, increase dimensioning
Braking resistor is defective or has not been connected For external braking resistor, visually check wiring and
resistor component. If necessary, correct wiring or replace
braking resistor.
If internal braking resistor is defective, replace device.

8.7.87 F2821 Error in control of braking resistor

The error can occur for devices of both the HCS and the HMV
type. There are different causes and remedies for both device
types!
Devices of the HCS type An error has occurred in the control of the external braking resistor.
Cause Remedy
Control of braking resistor has detected inadmissibly high Check braking resistor for correct resistance value. If
current. necessary, use braking resistor with higher resistance value.
Terminal connectors for external braking resistor have been Remove short circuit, connect braking resistor correctly, if
short-circuited. necessary.
Devices of the HMV type An error has occurred in the control of the internal braking resistor.
Cause Remedy

Error messages
8.7.88 F2822 Mains connection temperature monitoring defective

The temperature sensor function in the KNK mains filter is cyclically

monitored.
The sensor temperature had been less than or equal to -40 °C for 30
seconds. The error E2822 had been output during this time. Since the
temperature has not risen above -40 °C after 30 seconds, the error "F2822
Mains connection temperature monitoring defective" is output and drive
enable is switched off.
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check connection of KNK mains filter to the supply unit.
Check temperature sensor connection line for mains filter
and corresponding terminals with regard to interruption and
short circuit.
Defective temperature sensor in mains filter Replace mains filter
Defective supply unit Replace supply unit

8.7.89 F2825 Switch-on threshold braking resistor too low

The error can only be cleared, when its cause has been removed.
Cause Remedy
For devices of type "HCS", this error message is generated Increase value of braking resistor switch-on voltage
when the parameterized braking resistor switch-on voltage is (corresponding list element in "P-0-0858, Data of external
too low. (The braking resistor would already be active with braking resistor"
correct DC bus voltage.) - or -
Select different reference value for switch on voltage of
braking resistor in "P-0-0860, Converter configuration"
As of MPx18: Value of "P-0-0853, MMax. DC bus voltage, Check value of P-0-0853; if necessary, adjust amount of
motor" is too low with respect to respective mains voltage. mains voltage with transformer.
NOTICE! Motor can be damaged if motor voltage is too high!
Do not parameterize value of P-0-0853 such that it is greater
than respective motor specification.

Error messages
8.7.90 F2834 Contactor control error

The mains contactor could not be connected or fell off during operation.
NOTICE Risk of destruction! Do not let the mains

contactor switch when voltage is applied on
the power wiring.
When voltage is applied on the power wiring, the switching of the mains
contactor must take place after the DC bus has been charged via the mains
connection module HNA.
Cause Remedy
Missing supply voltage ● Check the wiring of the mains contactor control
● Check the supply voltage of the mains contactor
Missing feedback of the acknowledgement contacts Check the wiring of the mains contactor acknowledgement
contacts (XG40)
Mains contactor control (XG34) does not switch If you have checked that the points outlined above are
met / correct, the device is faulty and has to be replaced

8.7.91 F2836 DC bus balancing monitor error

Unbalance on the DC bus was detected for the supply unit / converter.
Cause Remedy
Unbalance on the DC bus Switch device off/on; if error continues occurring, replace
device

8.7.92 F2841 Shutdown: Mains connection overtemperature

The KNK mains filter temperature measured by the temperature sensor is

higher than the switch-off threshold specified for the device.
Error messages
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check mains connection to supply unit.
Check temperature sensor connection line for mains
connection and corresponding terminals with regard to
interruption and short circuit.
The supply unit is overloaded. Reduce load. To prevent the supply unit from being switched
off, this can also be done temporarily by the control unit.
Check sizing of the installation.
In the case of installations that have been operated for a
long time, check whether drive conditions have changed
(with regard to dirt accumulation, friction, moved masses
etc.).
If an external cooling system is available: Check sizing of
cooling system.
Fan has failed Check cooling system
- or -
Defective coolant pump
- or -
Cooling circuit not connected
Cooling system dirty Clean heat sink. In the case of water cooling: Check flow
and clean pipes, if necessary.
Ambient temperature too high Check whether or not ambient temperature exceeds
temperature allowed according to Project Planning Manual.
Check control cabinet cooling system. An air conditioning
unit is possibly required.
Bad transmission in cooling system Check device mounting on external cooling system.
Retighten mounting screws. If necessary, use heat transfer
compound in accordance with mounting instructions. Ensure
plane connection.
Heat transmission by convection or heat conduction by Check inward flow of cooling air. Increase distance between
neighboring devices or parts the devices. Thermally insulate heat sources on the external
cooling system.
Missing or bad convection Ensure free inward flow of cooling air
Incorrect control cabinet sizing with regard to heat Check control cabinet sizing
dissipation
Device-internal cooling has failed Replace mains connection

8.7.93 F2860 Overcurrent in mains-side power section

Error messages
The current in the mains-side power section has exceeded the maximum
allowed value. The power supply is switched off.
Cause Remedy
Mains choke incorrectly connected Check mains choke

Mains choke missing or incorrectly sized Check mains choke
Mains filter missing or incorrectly sized Check mains filter
Connected capacitance in DC bus too high Reduce capacitance according to Project Planning Manual;
check possibility of group supply

8.8 sercos Service Channel Error Codes / Error Messages of Se‐

rial Communication
For some errors concerning serial communication, the error codes defined in
the sercos specification are used (see "sercos Specification", chapter 4.3.2.3
"Service channel error messages"). These codes are also used in the case of
incorrect access to control and system parameters.
Error code
Hexadecimal Decimal Explanation
0x1001 4097 No IDN

0x1009 4105 Invalid access to element 1
0x2001 8193 No name
0x2002 8194 Name transmission too short
0x2003 8195 Name transmission too long
0x2004 8196 Name cannot be changed (read only)
0x2005 8197 Name is write-protected at this time
0x3002 12290 Attribute transmission too short
0x3003 12291 Attribute transmission too long
0x3004 12292 Attribute cannot be changed (read only)
0x3005 12293 Attribute is write-protected at this time
0x4001 16385 No units
0x4002 16386 Unit transmission too short
0x4003 16387 Unit transmission too long
0x4004 16388 Unit cannot be changed (read only)
0x4005 16389 Unit is write-protected at this time
0x5001 20481 No minimum input value
0x5002 20482 Minimum input value transmission too short
Error messages
Error code
Hexadecimal Decimal Explanation
0x5003 20483 Minimum input value transmission too long
0x5004 20484 Minimum input value cannot be changed (read only)
0x5005 20485 Minimum input value is write-protected at this time
0x6001 24577 No maximum input value
0x6002 24578 Maximum input value transmission too short
0x6003 24579 Maximum input value transmission too long
0x6004 24580 Maximum input value cannot be changed (read only)
0x6005 24581 Maximum input value is write-protected at this time
0x7002 28674 Operation data transmission too short
0x7003 28675 Operation data transmission too long
0x7004 28676 Operation data cannot be changed (read only)
0x7005 28677 Operation data is write-protected at this time (reason: communication phase or
mode)
0x7006 28678 Operation data is smaller than the minimum input value
0x7007 28679 Operation data is greater than the maximum input value
0x7008 28680 Invalid operation data (e.g. IDN not supported, invalid bit number, invalid bit
combination, invalid list length)
0x7009 28681 Operation data write protected by a password
0x700A 28682 Operation data is write protected, it is configured cyclically (IDN is configured in
the MDT or AT. Therefore writing via the service channel is not allowed).
0x700B 28683 Invalid indirect addressing (e.g., data container, list handling)
0x700C 28684 Operation data is write protected, due to other settings (e.g., parameter,
operation mode, drive enable, drive on etc.)
0x7010 28688 Procedure command already active
0x7011 28689 Procedure command not interruptible
0x7012 28690 Procedure command at this time not executable (e.g., in this phase the
procedure command cannot be activated)
0x7013 28691 Procedure command not executable (invalid or false parameters)
Tab. 8-1: sercos Error Codes

Warnings (Exxxx)
9 Warnings (Exxxx)
9.1 Fatal warnings (E8xxx)
9.1.1 Behavior in the Case of Fatal Warnings
There are different drive reactions in the case of warnings of category E8xxx;
they are described under the cause/remedy descriptions of the warnings.
9.1.2 E8022 Encoder 1: Encoder signals incorrect

The encoder signals of encoder 1 are incorrect. Since encoder 2 is

configured as redundant motor control encoder, no error but this warning is
generated in case of incorrect encoder signals of encoder 1; further operation
with encoder 2 is possible.
The velocity control and the operation modes using encoder 1 as

control encoder are automatically switched to encoder 2.
The warning is deleted by switching in "PM".
Cause Remedy
necessary
Note: Only Rexroth service engineers or especially trained
users are allowed to replace the control section. The
As the position is no longer generated correctly, encoder 1 must

be re-initialized after elimination of the error.
E8022 - Attributes Display: E8022

Diagnostic no.: E8022
Diagnostic no. as of 18VRS: 000E8022
9.1.3 E8023 Encoder 2: Encoder signals incorrect

The encoder signals of encoder 2 are incorrect. Since encoder 2 is

configured as redundant motor control encoder, no error but this warning is
generated in case of incorrect encoder signals of encoder 2; further operation
with encoder 1 is possible.
The velocity control and the operation modes using encoder 2 as

control encoder are automatically switched to encoder 1.
The warning is deleted by switching in "PM".
Warnings (Exxxx)
Cause Remedy
necessary
users are allowed to replace the control section. The
As the position is no longer generated correctly, encoder 2 must

be re-initialized after elimination of the error.

9.1.4 E8025 Overvoltage in power section

The DC bus voltage is monitored. When the allowed maximum value is

exceeded, the fatal warning E8025 is generated.
The controller switches the motor to torque-free state in the case of
overvoltage. If the DC bus voltage falls below the allowed maximum value
again, the motor is switched on again.
Cause Remedy
Energy regenerated to DC bus by mechanical machine Reduce regenerative power by lower acceleration values
system during braking process was so high that supply unit - or -
couldn't dissipate it during regeneration time. This caused
DC bus voltage to rise to inadmissible value Correct sizing of drive
- or -
Sufficiently dimension supply unit as regards braking energy
requirements; if necessary, use additional braking resistor if
existing braking resistor has been under-dimensioned
Mains supply voltage (alternating input voltage) too high Check mains supply voltage (alternating voltage/3-phase)
No braking resistor connected or connection or cable Connect braking resistor or check connection
defective
F8xxx error at high speed (field weakening range) of a Check whether braking resistance value in DC bus exceeds
synchronous motor maximum value allowed for motor; if necessary, reduce
braking resistance value to or below allowed value

Diagnostic no. as of 18VRS: C00E8025
Warnings (Exxxx)
9.1.5 E8026 Undervoltage in power section

The DC bus voltage value is monitored by the drive controller and the supply
unit.
Drive Controllers HMS, HMD, If the DC bus voltage falls below the minimum value determined for the drive
HCS (see value of "P-0-0114, Undervoltage threshold") or it reacts to "DC bus not
ok" of the module bus, the device generates the warning E8026 if "fatal
warning" has been set in "P-0-0118, Power supply, configuration" with regard
to the reaction to undervoltage.
Supply Unit HMV01.1R If the DC bus voltage falls by 80 V below the command value of 750 V direct
voltage (DC670 V), the warning E8026 is displayed at the device and "DC
bus not ok" is signaled via the module bus. The circuit is not interrupted yet!
In the case of fatal warning E8026, the motive torque is locked.

The control unit still can actively decelerate the drive, but no
longer accelerate it.
Cause Remedy
Malfunction or overload of power supply Check power supply

9.1.6 E8027 STO/SBC while drive enabled

When this warning occurs, the drive immediately goes torque-

free!
Cause Remedy
control. - or -
Drive enable was set in special mode "safe standstill". Go to normal operation before setting drive enable
- or -
Warnings (Exxxx)

CiA error code: F0EB
9.1.7 E8028 Overcurrent in power section

The controller monitors the motor current supplied by the power section
(=controller output current).
If the controller output current is larger than 1.2 times the "S-0-0110,
Amplifier peak current" or if the controller output current is larger than the
product of "P-0-4013, Current limit value of demagnetization" and "S-0-0109,
Motor peak current", the output stage of the power section is blocked until the
controller output current has dropped to permissible values again; the
warning E8028 is output during this process.
Cause Remedy
Incorrect current controller parameterization Check the current controller setting ("S-0-0106, Current loop
proportional gain 1", "S-0-0107, Current loop integral action
time 1" and correct if necessary following consultation with
customer service
For motors from Bosch Rexroth with encoder data memory Check whether the values in "S-0-0106, Current loop
(MHD, MKD, MKE), the values for current controller proportional gain 1" and "S-0-0107, Current loop integral
parameterization do not correspond to the values in the action time 1" correspond to the values in the encoder data
encoder data memory memory ("P-0-2106, Current loop proportional gain 1,
encoder memory" and "P-0-2107, Current loop integral
action time 1, encoder memory")
Notice: The calculation of "S-0-0106, Current loop
proportional gain 1" is dependent on "P-0-0001, Switching
frequency of the power output stage" and "P-0-0556, Axis
controller control word"!
For motors from Bosch Rexroth without encoder data Check whether the values in "S-0-0106, Current loop
memory, the values for current controller parameterization proportional gain 1" and "S-0-0107, Current loop integral
do not correspond to the manufacturer specifications action time 1" correspond to the manufacturer specifications
(see commissioning software)
For motors from third-party manufacturers, the output data Check whether the output data for calculating the parameter
for calculating the parameter values is not correct values is correct

9.1.8 E8029 Positive position limit exceeded

The drive provides a function for monitoring an allowable travel range using
software limit switches that can be parameterized.
Warnings (Exxxx)
The travel range must be activated and parameterized via

"S-0-0049, Positive position limit value", "S-0-0050, Negative
position limit value" and S‑0‑0055, Position polarities.
The reaction of the drive if the travel range is exceeded (fatal
warning or error) must be parameterized in "P-0-0090, Travel
range limit switch parameter".
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
Cause Remedy
A command value was specified for the drive, which results Specify a command value that moves back into allowable
in a axis position outside of positive travel range/position travel range.
limit Contact machine manufacturer to clarify cause of faulty
command value
Faulty parameterization of positive travel range/position limit Check and, if necessary, correct parameterization of
"S-0-0049, Positive position limit value"
Parameter "S-0-0057, Position window" is used to realize a

hysteresis function when evaluating position limit values.

9.1.9 E8030 Negative position limit exceeded

The drive provides a function for monitoring an allowable travel range using
software limit switches that can be parameterized.
The travel range must be activated and parameterized via

"S-0-0049, Positive position limit value", "S-0-0050, Negative
The reaction of the drive if the travel range is exceeded (fatal
warning or error) must be parameterized in "P-0-0090, Travel
range limit switch parameter".
Warnings (Exxxx)

available force.
Cause Remedy
A command value was specified for the drive, which results Specify a command value that moves back into allowable
in a axis position outside of negative travel range/position travel range.
limit Contact machine manufacturer to clarify cause of faulty
command value
Faulty parameterization of positive travel range/position limit Check and, if necessary, correct parameterization of
"S-0-0050, Negative position limit value"
Parameter "S-0-0057, Position window" is used to realize a

hysteresis function when evaluating position limit values.
See also Functional Description "Position Limitation/Travel Range Limit

Switches"
9.1.10 E8034 Emergency-Stop activated


an external hardware switch). This monitor has to be activated and
parameterized via "P-0-0008, Activation E-Stop function".
When the warning E8034 occurs, the axis is decelerated in

accordance with the configured "best possible deceleration"
(P-0-0119, bit 0 to 3) for switching off drive enable.
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and
clarify cause of triggering
wired


Warnings (Exxxx)
● "Velocity Command Value Reset"

CiA error code: FF0F
9.1.11 E8040 Torque/force actual value limit active

The warning E8040 is generated when the "stall protection loop" takes effect
and changes the working point of the machine for its relief.
Cause Remedy
Load torque is too high Reduce load torque

Torque limit values incorrectly parameterized Check parameters "S-0-0082, Torque/force limit value
positive"; "S-0-0083, Torque/force limit value negative";
"S-0-0092, Bipolar torque/force limit value" and "P-0-0109,
Torque/force peak limit" and increase limits, if necessary
See also Functional Description of firmware "Voltage-Controlled Operation"

9.1.12 E8041 Current limit active

The warning E8041 is generated when the current limitation loop takes effect
and reduces the output voltage due to overvoltage.
Cause Remedy
"S-0-0109, Motor peak current" incorrectly parameterized Check content of "S-0-0109, Motor peak current" and
increase it, if necessary
Short circuit at output of power output stage (e.g. in motor Check motor connection and motor for short circuit and
cable or in motor) replace cable or motor, if necessary
Power output stage in drive controller defective Replace drive controller
The replacement of the drive controller is described in the Project

Planning Manual for the power section.
See also Functional Description of firmware "Voltage-Controlled Operation"

9.1.13 E8042 Both travel range limit switches activated

Warnings (Exxxx)
The compliance with the allowed travel range of linear axes is monitored on
the hardware side via two travel range limit switches. When the travel range
has been exceeded, one of the two limit switches is activated, if the limit
switches were correctly mounted.
The warning E8042 is generated if
● the controller detects that both travel range limit switches have been
simultaneously activated and
● exceeding the travel range is handled as a fatal warning (setting in
"P-0-0090, Travel range limit parameter")
As long as the cause for E8042 is not eliminated, the controller

does not accept any command values!
available force.
Cause Remedy
Due to incorrect mounting, axis simultaneously activates Mount travel range limit switches in such a way that they are
both travel range limit switches activated shortly before axis end position is reached. Make
sure the braking distance is sufficient.
Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check
compliance with switching logic set in "P-0-0090, Travel
range limit parameter"
Switching logic of travel range limit switches does not Check switching logic with regard to realized wiring, adjust it
correspond to realized wiring in "P-0-0090, Travel range limit parameter" if necessary

9.1.14 E8043 Positive travel range limit switch activated

The drive provides a function for monitoring travel range limit parameters
(external hardware limit switches). This monitor has to be activated and
parameterized via "P-0-0090, Travel range limit parameter".
The warning is generated if
● the controller detects that the positive travel range limit switch has been
activated and
Warnings (Exxxx)

available force.
Cause Remedy
The travel range limit parameter lying in the positive Set drive controller enable and specify a command value
direction (see motor configuration) was activated because that move back into the allowable travel range again
the axis is located outside of the travel range defined by the
travel range limit switch
Travel range limit switch or cable is defective or wired Check function and wiring of travel range limit switch
incorrectly


See also Functional Description of firmware "Digital Inputs/Outputs"
9.1.15 E8044 Negative travel range limit switch activated

The drive provides a function for monitoring travel range limit parameters
(external hardware limit switches). This monitor has to be activated and
parameterized via "P-0-0090, Travel range limit parameter".
The warning is generated if
● the controller detects that the negative travel range limit switch has been
activated and
available force.
Warnings (Exxxx)
Cause Remedy
The travel range limit parameter lying in the negative Set drive controller enable and specify a command value
direction (see motor configuration) was activated because that move back into the allowable travel range again
the axis is located outside of the travel range defined by the
travel range limit switch
Travel range limit switch or cable is defective or wired Check function and wiring of travel range limit switch
incorrectly


See also Functional Description of firmware "Digital Inputs/Outputs"
9.1.16 E8055 Motor overload, current limit active

In order to protect the motors against thermal destruction in the case of peak
loads occurring for a very short time, the thermal work load of the motor is
continuously calculated in the controller by means of a motor temperature
model.
If the maximum possible motor current is reduced, due to the current thermal
motor load, compared to the content of "S-0-0109, Motor peak current", the
drive generated the warning E8055. As a consequence thereof the drive can
no longer follow the command values preset by a control unit.
When the E8055 warning is active, bit 0 (overload warning) is

additionally set in "S-0-0012, Class 2 diagnostics".
Cause Remedy
Too high acceleration torque/too high acceleration force Reduce acceleration by adjusted command value profile
demanded
Overload of drive by too high continuous load Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed) Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions
See also Functional Description of firmware "Current Limitation"

Warnings (Exxxx)

9.1.17 E8057 Device overload, current limit active

In order to protect the devices against thermal destruction, the thermal load
of the output stage in devices with digital current control is continuously
calculated by a temperature model, depending on the measured current.
For HCS, HMS, HMD If the thermal load exceeds 97% (displayed in "P-0-0141, Thermal drive
load"), the continuous current limitation is activated and the warning E8057 is
generated. As a consequence thereof the drive can no longer follow the
command values preset by a control unit.
When the E8057 warning is active, bit 0 (overload warning) is

additionally set in "S-0-0012, Class 2 diagnostics".
For HMV01.1R When the thermal load has reached 100%, the continuous current limitation
is activated and the warning E8057 is generated. As a consequence thereof
the available DC bus power is reduced and especially drives that require high
power can no longer follow the preset command values.
Cause Remedy
Device is not adjusted to requirements of application or Check dimensioning of drive and, if necessary, use more
motor powerful device
Too high acceleration torque/too high acceleration force Reduce acceleration by adjusted command value profile
demanded
Overload of drive by too high continuous load Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed) Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions

9.1.18 E8058 Drive system not ready for operation

This fatal warning can occur for drive controllers in operation that are
interconnected via the module bus. If one of these drive controllers in
operation signals an error via the module bus, the drives that are to react to
signaled errors ("package reaction") react with shutdown. The reacting drives
display the warning E8058, the supply unit displays "E2810 Drive system not
ready for operation".
Warnings (Exxxx)
The settings for error messages and error reactions for devices that are
interconnected via the DC bus and module bus are made in "P-0-0118,
Power supply, configuration".
Cause Remedy
Error message of one or several drives of a drive system Identify drive or drives signaling an error. Remove cause of
error at respective drive or drives

9.1.19 E8260 Torque/force command value limit active

Apart from the dynamic actual torque/force value limitation by means of a

motor or amplifier temperature model, there are voltage-dependent (velocity-
dependent), as well as parameterizable limitations of the torque/force
command value. At least one of these limits has been reached.
As regards the occurrence of the warning E8260, there are

different causes and remedies for "closed-loop
operation" / "controlled motor operation" (FOC, FOCsl, FXC) and
sensorless, voltage-controlled motor operation ("U/f-controlled
motor operation" / "open-loop operation")!
Cause Remedy
"Controlled motor operation" / "closed-loop operation" Reduce preset maximum acceleration value to allow drive to
Acceleration capacity of drive has been exceeded. In follow position or velocity command value characteristic
operating modes "position control" and "velocity control", this
means that there is an ever-increasing position deviation
(lag error) between command value and actual value
"Controlled motor operation" / "closed-loop operation" Reduce maximum velocity command value in such a way
Velocity command value is higher than maximum velocity of that values of P-0-0535 or P-0-0536 are not reached when
drive. Drive limits output value of velocity loop (torque accelerating or at maximum velocity.
command value) so that output voltage of controller, If possible, use controlled supply unit (HMV-R); with
depending on load, does not exceed value of "P-0-0535, uncontrolled supply unit increase supply voltage, if
Motor voltage at no load" or "P-0-0536, Maximum motor necessary
voltage"
"Controlled motor operation" / "closed-loop operation" Increase values of "S-0-0082, Torque/force limit value
Torque/force limit values incorrectly set positive", "S-0-0083, Torque/force limit value negative",
Torque/force peak limit", if necessary
"Controlled motor operation" / "closed-loop operation" Check contents of "S-0-0106, Current loop proportional gain
Current loop incorrectly parameterized for motors without 1" and "S-0-0107, Current loop integral action time 1" and
feedback data memory (e.g. kit motors or third-party motors) correct them, if necessary.
See also Functional Description of firmware "Automatic
Setting of Motor Control"
Warnings (Exxxx)
Cause Remedy
"Controlled motor operation (FXC)" Reduce current at standstill ("P-0-0532, Premagnetization
Controller cannot permanently provide required current at factor" × "P-0-4004, Magnetizing current") by lower value of
standstill of asynchronous motor P-0-0532
- or -
Use controller with higher continuous current (type current)
"Open-loop operation" / "U/f-controlled motor operation" Maximum change of velocity with which drive can follow
Acceleration capacity of controlled drive has been exceeded command values is determined by motor. This possibly
(velocity command value ramp too steep) requires adjustment of "P-0-0569, Maximum stator
frequency change"

9.1.20 E8300 SMO: Error within the safety zone

The axis is configured such that it reacts to zone errors with this
fatal warning (P-0-3266.0.2). The reaction occurs in accordance
with "P-0-3263.0.1, SMO: Configuration of stopping process" (bit
0-3).
Cause Remedy
A zone node signaled an error via the zone bus [see Switch axis of zone that signaled the error into error-free
P-0-3266.0.1 (bit for error status of safety zone)]. state

9.1.21 E8399 Error in processing of diagnostic message

Fatal safety technology warning signaled by "Safe Motion" is unknown.

2. Please contact our service department.
9.1.22 E8819 Mains failure

A mains failure was detected. To maintain the DC bus, regenerative

operation of the motor is still possible, motive operation of the motor is
disabled. The function depends on "P-0-0118, Power supply, configuration"
(behavior in the case of undervoltage in DC bus).
Warnings (Exxxx)
Cause Remedy
Malfunction or overload of power supply Check power supply

9.2 Warnings of category E4xxx

9.2.1 E4001 Sync telegram failure
Up to MPx16, the name of this diagnostic message was "E4001

Double MST failure shutdown"
The master synchronization telegram (MST) was not received in the drive in
several successive sercos cycles. The number of allowed failures is set in
S-0-1003.
In "P-0-4088, Master communication: Drive configuration", the

reaction to the failure of the cyclic communication can be
configured as a warning or as an error.
Cause Remedy
Different sercos cycle times in master and slave Check sercos cycle times in master and slave and adjust
them, if necessary
Disturbance in sercos interface (general) Replace control section or entire drive controller

Possibilities"
9.2.2 E4002 RTD telegram failure

Up to MPx16, the name of this diagnostic message was "E4002

Double MDT failure shutdown"
Warnings (Exxxx)
In "P-0-4088, Master communication, configuration", you can

configure the reaction to the failure of cyclic communication as a
warning or as an error.
A consumer connection violates the selected monitoring criterion.
Cause Remedy
Synchronous monitoring has been preset for a connection Producer of connection (can be bus master or another
and NewData bit of connection does not toggle in preset slave) does not work correctly
cycle
Too many telegrams fail due to disturbances Check bus line and connector

Possibilities"
9.2.3 E4005 No command value input via master communication

There is no command value input via the master communication interface.
DANGER Dangerous movements! Danger to life, risk of

automatic restart after bus failure!
In the case of bus failure (message "F4009" or "E4005"), an error reaction
must be carried out in the control unit, too, to prevent automatic restart after
the bus has been reestablished. This means that the bits "Drive Halt", "drive
enable" and "drive ON" (e.g. bits 13, 14 and 15 in parameter "P-0-4077, Field
bus: Control word") should be reset in the control unit in the case of bus
failure.
sercos The setting in parameter "P-0-4088, Master communication, configuration" is

such that there won't be any drive error reaction initiated in case
communication fails, but this warning will be displayed.
Cause Remedy
Invalid communication phase was set by sercos master Cause can only be remedied by consulting the control unit
module (phase >4) (see also F4003) manufacturer
When the device had been switched back from a Cause can only be remedied by consulting the control unit
communication phase, it was not switched to communication manufacturer
phase 0 (error in sercos master module of control unit) (see
also F4005)
EtherCAT
Warnings (Exxxx)
Cause Remedy
Double MDT failure in phase "Op" without enabling Check bus timing
Note: If the warning occurs when the phase is switched back
from "Op", you can ignore the warning.
Double MDT failure in phase "Op" with enabling (warning is Check bus timing
only generated when "P-0-4088, Master communication,
configuration" has been parameterized such that a warning
is to be generated instead of a drive error reaction initiated
in case communication fails, otherwise F4002)
Wiring of EtherCAT cables is not correct Make sure that EtherCAT cable for incoming signals has
been plugged in connection point X25 P1 [or X23 P1 (if
available)] and EtherCAT cable for outgoing signals has
been plugged in X24 P2 [or X22 P2 (if available)]
Other field buses (CANopen, In "P-0-4088, Master communication, configuration", bus failure was
PROFIBUS, ...) configured as a warning.
Warning E4005 is generated in the following cases:
● No telegram with command values was received within the monitoring
time stored in P-0-4075.
- or -
● The control unit was switched to "Stop".
- or -
● The control unit took the drive out of the master communication group.
Cause Remedy
See F4009 See F4009

9.2.4 E4006 Communication module overload

The communication module is overloaded.
Cause Remedy
High network load Check network configuration

9.2.5 E4007 sercos: Consumer connection failed

A consumer connection violates the selected monitoring criterion.

Warnings (Exxxx)
Cause Remedy
Synchronous monitoring has been preset for a consumer Producer of connection (can be bus master or another
connection and NewData bit of connection does not toggle slave) does not work correctly
in preset cycle
Too many telegrams fail due to disturbances Check bus line and connector

9.2.6 E4008 Invalid addressing command value data container A

An error is present while the index check is carried out in the multiplex
channel. In the case of cyclic data exchange, the index is monitored for
pointing to a non-initialized section in the list when the lists Data container A:
Configuration list command value-x are accessed.
Cause Remedy
Via "S-0-0368, Data container A: Addressing" an index Select only indices (layers), in which parameters are
(layer) was selected in which no parameters have been entered, by means of the low-byte of "S-0-0368, Data
entered. container A: Addressing".
"Fill" the configuration lists for command values (S-0-0370,
S-0-0490, S-0-0491,…, S-0-0496) with parameters.
See also functional description of firmware "Multiplex channel"

9.2.7 E4009 Invalid addressing actual value data container A

An error is present while the index check is carried out in the multiplex
channel. In the case of cyclic data exchange, the index is monitored for
pointing to a non-initialized section in the list when the lists Data container A:
Configuration list command value-x are accessed.
Cause Remedy
Via "S-0-0368, Data container A: Addressing" an index Select only indices (layers), in which parameters are
(layer) was selected in which no parameters have been entered, by means of the high-byte of "S-0-0368, Data
entered. container A: Addressing".
"Fill" the configuration lists for actual values (S-0-0371,
S-0-0500, S-0-0501,…, S-0-0506) with parameters.
See also functional description of firmware "Multiplex channel"

Warnings (Exxxx)

9.2.8 E4010 Slave not scanned or address 0

During the initialization of the sercos ring in communication phase 1, every

slave that is to be part of the continuing phase run-up must be addressed by
the sercos master. Slaves that are not addressed or for which the drive
address 0 is set diagnose this with warning E4010. Communication with
these slaves in higher communication phases is not possible; they function
only in repeater mode.
Cause Remedy
Save was not scanned in phase 1 or address 0 is set Set correct slave address
Save was deactivate by control unit Check sercos master configuration

9.2.9 E4011 Communication watchdog: Overload of cyclic communication

Cause Remedy
MultiEthernet interface is overloaded; I/O data of cyclic Please contact our service department
communication cannot be transmitted to drive

9.2.10 E4012 Maximum number of CCD slaves exceeded

When switching to communication phase 2, too many CCD slaves (→ CCD:

Cross Communication Drives) were detected to have been connected to the
cross communication interface of the CCD master.
This warning is always reset in phase 0.

Warnings (Exxxx)
Cause Remedy
More CCD slaves than allowed have been connected to Reduce number of connected CCD slaves
CCD master Note: Maximum number of axes depends on CCD cycle time
and data length

9.2.11 E4013 Incorrect CCD addressing

When switching to communication phase 1, a configured CCD slave (→ CCD:

Cross Communication Drive) was not found.
Cause Remedy
Multiple use of a CCD slave address; actual topology Correct slave address in the slave/the slaves (P-0-4025,
(P-0-1801.0.3/P-0-1603) and command topology Drive address of master communication)
(P-0-1801.0.2/P-0-1636) do not match. Addresses must be
unequivocal here
A CCD slave that does not exist in the CCD group was Correct P-0-1801.0.10/P-0-1601 in accordance with
configured in P-0-1801.0.10/P-0-1601 (addresses of drives connected CCD slaves
configured in CCD group)
A CCD slave that does not exist in the CCD group was Correct P-0-1801.0.11/P-0-1604 in accordance with
configured in P-0-1801.0.11/P-0-1604 (addresses of I/Os connected CCD slaves
configured in CCD group) - or -
Assign the addresses to the slaves using the command
C7000
In P-0-1801.0.10/P-0-1601 Connect all configured CCD slaves correctly
- or -
in P-0-1801.0.11/P-0-1604, an incorrectly connected CCD
slave was configured
See also "CCD diagnostics" (P-0-1810.0.10/P-0-1630)

CiA error code: FF0A
9.2.12 E4014 Incorrect phase switch of CCD slaves

When the CCD group powers up to phase 0, 1 or 2, the CCD slaves are
monitored for correct reaction. Warning E4014 is generated if the behavior of
one or more slaves is not correct. There may be the following error
symptoms:
● The CCD slave ignores phase switching and continues to transmit
Warnings (Exxxx)
● The CCD slave does not resume transmitting after completed phase
switching
● The list of scanned CCD slaves is not stable (the list must be completely
identical for phase 0)
● No communication on port 1 or port 2
● No CCD slave scanned [only if P-0-1801.0.10/P-0-1601 (CCD:
Addresses of projected drives) is also empty, otherwise E4013]
● The MST that was transmitted is not received correctly
● A CCD slave has been connected that is not supported by the CCD
master
Cause Remedy
sercos plug-in connectors are loose or defective Check sercos plug-in connectors and replace them, if
necessary
One of the CCD slaves is defective Replace CCD slave
See also "CCD diagnostics" (P-0-1810.0.10/P-0-1630)

CiA error code: FF0B
9.2.13 E4016 CCD: Topology error

In sercos phase 4 the CCD master has detected that the actual topology
differs from the command typology.
The command topology is only monitored if a value unequal "0"

has been entered in P-0-1620.0.3/P-0-2416 (MPx-17 only) or
P-0-1801.0.20/P-0-2322 (MPx-18 and above).
Cause Remedy
The command topology specified in P-0-1620.0.3/P-0-2416 Change P-0-1620.0.3/P-0-2416 (MPx-17 only) or

(MPx-17 only) or P-0-1801.0.20/P-0-2322 (MPx-18 and P-0-1801.0.20/P-0-2322 (MPx-18 and above) according to
above) does not exist setup of connections (topology)
- or -
Change connection(s) between slaves as parameterized in
P-0-1620.0.3/P-0-2416 (MPx-17 only) or P-0-1801.0.20/
P-0-2322 (MPx-18 and above)
Connection between two slaves interrupted Check connections between the slaves.
NOTE: Green LED indicates "Link"; parameter
P-0-1610.0.21/P-0-2414 (MPx-17 only) or P-0-1801.0.22/
P-0-2326 (MPx-18 and above) displays addresses of slaves
at end of line.

Warnings (Exxxx)

CiA error code: FF0C
9.2.14 E4017 CCD: Unknown I/O configuration

The composition of a modular I/O has changed since the previous CCD
phase progression. The content of parameter S-0-1500.0.3 (List of Module
Type Codes) in a modular I/O is not identical with the content of parameter
"P-0-1634.x.1, CCD: Module type codes of the modular I/Os".
As a result, there may be cases where the inputs or outputs are not operated
correctly because modules of the modular I/O have been exchanged.
Cause Remedy
New modular I/O was added to CCD group Start command "P-0-1620.0.31, C7200 CCD: Command
Apply I/O configuration" or write to parameter P-0-1634.x.1
Changes were made to known modular I/O in CCD group. Undo changes to modular I/O
Modules were exchanged or replaced by other modules or - or -
new modules were added
Inform CCD master about changes with command C7200
"CCD: Command Apply I/O configuration"
- or -
Write correct values to parameter P-0-1634.x.1

CiA error code: FF0D
9.2.15 E4020 sercos: Ring interruption (FF to LF)

The sercos ring was interrupted. The sercos topology was changed from
"Fast Forward" (FF) to "Loop-back with Forward" (LF).
A change in topology is also displayed in the device status word

(S-Dev) (S-0-1045) and at the LEDs of the Multi-Ethernet
interface.
Warnings (Exxxx)
Cause Remedy
Master has changed topology via Device Control (C-Dev) Carry out ring recovery by master
(S-0-1044)
- or -
A neighboring slave has changed its topology
One of the two sercos cables was removed Plug in sercos cable and afterwards carry out ring recovery
by master
Cable break has occurred (defective cable) Replace cable and afterwards carry out ring recovery by
master

9.2.16 E4021 CCD: Not all slaves support SWC

Allocation Contained in 20VRS: «-» «-» «-» «MPC» «-»
In the CCD phase 0, the CCD master has detected that one of the connected
Sercos slaves does not support SWC (Single Wire Coexistence).
Cause Remedy
One of the Sercos slaves connected to the CCD master Only run slaves allowing SWC at the CCD master (e.g.,
does not support SWC (Single Wire Coexistence) IndraDrive with version MPx20V06 and above)
- or -
In P-0-1800.0.1, bit 14, deselect the SWC option

9.2.17 E4040 sercos: Hot-plug error

This diagnostic message is an acknowledgement message that is generated

in the case of an incorrect hot plug phase startup.
Cause Remedy
During the hot plug phase startup, an error occurred, which A remedy can only provided in conjunction with the bus
cannot be assigned to another, specific hot plug diagnostic master.
message.

9.2.18 E4041 sercos: HP0 Cycle Time invalid


Warnings (Exxxx)
Cause Remedy
The value parameterized in "S-0-1002, sercos cycle time Parameterize a sercos cycle time (S-0-1002) in the bus
(tScyc)" is not supported by the slave. master, which is supported by the slave.

9.2.19 E4042 sercos: HP0 MDT length invalid


Cause Remedy
The value parameterized in "S-0-1010, sercos: Lengths of Parameterize MDT lengths in the bus master that conform
MDTs" is not supported. with standards (see description of S-0-1010).

9.2.20 E4043 sercos: HP0 AT length invalid


Cause Remedy
The value parameterized in "S-0-1012, sercos: AT lengths" Parameterize AT lengths in the bus master that are in
is not supported. conformity with standards (see description of S-0-1012).

9.2.21 E4044 sercos: HP0 MTU size invalid


Cause Remedy
The value parameterized in "S-0-1027.0.1, sercos: Parameterize an MTU in the bus master1) (S-0-1027.0.1),
Requested MTU" is not supported. which is supported by the slave.

9.2.22 E4045 sercos: HP0 NRT window invalid

1) MTU: "Maximum Transmission Unit"

Warnings (Exxxx)

Cause Remedy
The value parameterized in "S-0-1017, sercos: NRT Parameterize an NRT transmission time (S-0-1017) in the
transmission time" is not supported. bus master, which is supported by the slave.

9.2.23 E4046 sercos: HP supported removed

Acknowledgement diagnostics for change in the specified hot plug phase

sequence.
Cause Remedy
The bus mater interrupted "hot plug" during the hot plug A remedy can only be provided in the bus master, e.g. by
phase startup. The drive controller automatically switched restarting the hot plug phase startup.
back to the NRT mode.

9.2.24 E4047 sercos: HP enabled removed

Acknowledgement diagnostics for change in the specified hot plug phase

sequence.
Cause Remedy
During hot plug phase 1 or 2 the bus master requested the A remedy can only be provided in the bus master, e.g. by
hot plug slave to jump back to hot plug phase 0 (HP0). restarting from hot plug phase 0.

9.3 Warnings of category E3xxx

9.3.1 E3112 Safe reference missing
This warning is generated as a reaction to Safe reference missing, depending

on the selected/active special mode and the configured safety function.
Warnings (Exxxx)
Cause Remedy
The axis has been in the following state for at least 15 Establish "Safe reference"
minutes:
● "Safe homing procedure" has been activated
(P-0-3253.0.1)
● The axis is in the operation mode "SMO application"
(P-0-3231)
● "Safe reference" is missing (P-0-3256)
If the drive is in "special mode Safe motion" and one of the safety
functions "Safely-limited end position (SLE)", "Safely-limited
position (SLP)" or "Safely-monitored position (SMP)" is active, the
error F3112 is generated (regardless of P-0-3253.0.1, bit 4).

homing procedure"
9.3.2 E3113 Prewarning: End of reference position check time interval

The time interval, in which the Safe reference is to be cyclically checked,

ends in less than 15 minutes. The SMO reference signal has not been
detected within the defined position range since the interval began.
Cause Remedy
The SMO reference signal (P-0-3253) has not been Move drive over the SMO reference position at a velocity <
detected within the position range P-0-3253.0.3 ± P-0-3253.0.5.
P-0-3253.0.4 since the time interval began in which the Safe
reference is to be cyclically checked (P-0-3253.0.6).
At the end of the time interval, this warning is replaced by the

error message F3166 and the "status of the SMO encoder
position feedback value" is set to "relative" (P-0-3256).
Use P-0-3253.0.1 to configure whether or not the "Safe

reference" is cyclically checked.
Additional notes:
● In parallel with this warning, the status bit "time interval status for
checking the Safe reference" is set in P-0-3256.
● The time interval is restarted after the check was carried out
successfully or after the command C4000 was executed successfully.
homing procedure"
Warnings (Exxxx)
9.3.3 E3115 Prewarning, end of brake check time interval

When "time interval of holding brake check" was activated in "P-0-0525,

Holding brake control word", the drive monitors the time which has passed
since the last holding brake check.
Cause Remedy
Drive had been put into operation and drive enable was set; Brake check (P-0-0541, C2100 Holding system check
after 5 minutes, drive generates warning E3115 command) must be carried out within 15 minutes after drive
was put into operation and drive enable was set
Space of time since last holding brake check has Start brake check within 15 minutes after occurrence of
approached time interval parameterized in "P-0-0550, Time E3115 (P-0-0541, C2100 Holding system check command)
interval holding system check" by 15 minutes or less

9.3.4 E3460 PROFIsafe: Wrong F-module selected

In the PROFINET master, an F-module which does not match the

parameterized predefined SMO configuration was selected as the slot for the
drive controller.
Cause Remedy
Wrong F-module or no F-module selected in PROFINET In the PROFINET master, select an F-module from the
master device data sheet that matches the current parameterization
in P-0-3342.0.1 and P-0-3343.0.1
Parameterization in P-0-3342.0.1 and P-0-3343.0.1 does not
Adjust parameterization in P-0-3342.0.1 and P-0-3343.0.1
match the F-module selected in the PROFINET master

9.4 Non-fatal warnings (E2xxx)

9.4.1 Behavior in Case a Non-Fatal Warning Occurs
In the case of warnings of category E2xxx, the drive normally does not carry
out any drive reaction, unless the warning was generated due to a mains or
undervoltage error. In this case, the behavior of the drive can be determined
via the parameter "P-0-0118, Power supply, configuration".
A second group of warnings within this category signals that a limit value
determined (parameterized) by the user has been exceeded.
A warning cannot be cleared; it disappears automatically after its cause was
removed.
Warnings (Exxxx)
9.4.2 E2001 Diagnostic trace S-0-1303.0.10 overflow warning

Cause Remedy
A problem occurred while processing the diagnostic 1. Make a backup of all parameters.
messages of the drive. In too short a time too many 2. Have a look at the diagnostic trace to find out which
diagnostic messages are/were signaled so that the diagnostic messages were signaled last. A warning or
diagnostic trace became inconsistent. The warning does not an error is likely to have been cyclically signaled. This
have any direct inluence on the drive function diagnostic message usually appears repeatedly in the
diagnostic trace.
3. Now, switch the drive off and back on. During re-
commissioning see to it that the relevant diagnostic
message is not cyclically generated.
Then get in contact with our service department and forward
E2001 - Detailed diagnostics 000D0034

9.4.3 E2004 Performance load prewarning threshold exceeded

Performance load prewarning threshold exceeded.
This warning can be cleared by switching over to the parameter

mode or by changing the prewarning threshold for performance
utilization (P-0-0322.0.2).
Cause Remedy
The prewarning threshold set in P-0-0322.0.2 for Increase the value of "P-0-0322.0.2, Prewarning threshold -
performance utilization has been exceeded. performance utilization".
Please note that in the case of a utilization of capacities >
90 % the reaction to acyclic communication requests may be
slower, MLD computer assignments may be reduced and
the processing times for commands increased.
In the case of loading > 95 % trouble-free operation can no
longer be ensured, through to possible CPU watchdogs
(F9003).
Tip: The averaged performance utilization is shown in
P-0-0322, Performance load.
Change the performance setting (P-0-0556, Config word of
axis controller).
Increase the master communication cycle time
Reduce the configured cyclic process data
Deactivate the optional firmware functions if not required
(position switch, probe function, ...).
Warnings (Exxxx)
E2004 - Detailed diagnostics 00190020

0019002B

9.4.4 E2005 One-time telegram failure, power section parallel bus


A single simultaneous telegram failure on both communication rings in the
parallel connection bus is tolerated, although this may result in over-current
due to control deviations; this warning is then generated. If the telegram
failure occurs more frequently, the device generates the error F8001.
Cause Remedy
The communication bus between the power parts is faulty ● Check wiring
● Check grounding
If there are no faults in the wiring and grounding, the parallel
connection module (HCP01.1-P001) is faulty and must be
replaced

9.4.5 E2008 Position control with encoder 1 not possible

For operation modes using parameter "S-0-0520, Control word for axis
control", the control encoder can be switched during ongoing operation.
If encoder 1 is not defined as control encoder, this warning is generated
when switching to encoder 1 is attempted.
9.4.6 E2009 Synchronous velocity command value > limit value

With the active "velocity synchronization" mode, the drive monitors the
synchronous velocity command value to find out whether it exceeds the
velocity limit value.
If the command value exceeds the smallest parameterized velocity limit
value, the warning E2009is generated and the command value is limited to
the velocity limit value.
Warnings (Exxxx)
Cause Remedy
The master axis velocity resulting from the configured Reduce master axis velocity
master axis is too high
Parameterized velocity limit value is too low Check and correct parameterization of "S-0-0091, Bipolar
velocity limit value", "S-0-0038, Positive velocity limit value",
"S-0-0039, Negative velocity limit value"
If a firmware not requiring an export license is used: Reduce velocity command value to allowed value
Velocity command values corresponding to an inverter
output frequency ≥ 600 Hz were preset in open-loop
operation
See also Functional Description of firmware "Velocity control"

E2009 - Detailed diagnostics 000F0005
000F0006

9.4.7 E2010 Position control with encoder 2 not possible

For operating modes using parameter "S-0-0520, Control word of axis

controller" it is possible to switch the control encoder during operation.
If no second encoder has been defined as control encoder, this warning is
generated when you try to switch to encoder 2.
9.4.8 E2011 PLC - Warning no. 1


In conjunction with technology functions, the drive-integrated PLC allows

warnings to be generated by the user from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows meaningful and language-
dependent diagnostic messages to be assigned.
Warnings (Exxxx)









Warnings (Exxxx)






CiA error code: F08A
Warnings (Exxxx)



CiA error code: F08B
9.4.15 E2020 Differing DC bus voltages with parallel connection

There is an impermissible difference between the DC bus voltages with

parallel connected power sections.
Cause Remedy
Incorrect power / DC bus wiring Check the power / DC bus wiring of the parallel connected
power sections
If the power / DC bus wiring is correct, there may be a fault Contact customer service, the device may have to be
in the device replaced

9.4.16 E2021 Motor temperature outside of measuring range

The lower limit of the allowed surrounding air temperature range of Rexroth
motors is 0 °C. If temperatures are very low (below -20 °C), there is the acute
danger that the motor encoder fails and the shaft bearing and housing are
damaged. The KTY84 type temperature sensor installed in the motor
windings of Rexroth motors allows measuring temperatures below the
allowed temperature range. If the motor temperature falls below -20 °C
(MPx17 and above: -40 °C), warning E2021 is output.
For other temperature sensor types, temperatures below the

allowed measuring range cannot be measured; therefore, a
warning will not be generated.
Warnings (Exxxx)
Cause Remedy
Motor temperature measured by temperature sensor KTY84 Warning disappears automatically when motor is heated up
is below -20 °C (MPx17 and above: -40 °C) to values above -20 °C by load or higher ambient
temperature (MPx17 and above: -40 °C)

9.4.17 E2022 Collective warning of power section

Collective message for non-fatal power section warnings, which are

transmitted by the power section.
book.
Cause Remedy
section

9.4.18 E2023 Current unbalance in parallel connection

An impermissibly high asymmetry of the individual phase currents has

occurred between the parallel connected power sections.
Cause Remedy
Symmetry throttle not connected Connect symmetry throttle

Loose connection at the connection points Check connections and tighten if required with the
necessary tightening torque
Axis: Different line lengths of the parallel connected power Adapt the lines lengths of the parallel connected power
sections between the connections of the symmetry throttle sections
HML and the motor connection busbar (L1/A1…L3/A3).
Power supply: Different line lengths of the parallel connected
power sections between the connections (L1/A1…L3/A3) of
the mains throttle combination HNL / HNC / HNL and the
mains busbar.

9.4.19 E2024 Device fan defective

The speed of the internal device fan deviates too far from the load-dependent
command value.
Warnings (Exxxx)
Cause Remedy


The DC bus voltage level is monitored by the drive controller and the supply
unit.
Cause Remedy
Power switch-off without deactivating the drive via the drive Check logic for activating drive in connected control unit
enable (DR) beforehand
Fault or overload on the power supply Check the power supply
Mains failure Check the cause of the mains failure, reconnect the mains
voltage
Temporary power supply overload Reduce machining cycle of the machine
See also functional description of firmware "Power supply".

9.4.21 E2031 Encoder 1 warning: Signal amplitude incorrect


signal (e.g., sin or cos) leaves the thresholds monitored by the hardware or if
the signals are disturbed in such a way that a position error occurs, the
warning E2031 is generated in conjunction with the function "redundant
motor encoder", if this has been configured via the list parameter "P-0-0173,
List of configurable axis-specific monitoring functions" in list element 0. In this
case, the controller switches the internal signal paths of the encoder
evaluation so that both parameter "S-0-0051, Position feedback 1 value" and
parameter "S-0-0053, Position feedback 2 value" receive the signals of the
external encoder (activated as redundant motor encoder). The signal path for
the commutation of the motor is switched, too. There isn't any error reaction
triggered as a result of the warning. As an alternative, the error "F2031
Encoder 1 error: Signal amplitude incorrect" can be configured for this error
case in the parameter P-0-0173 in list element 0.
Warnings (Exxxx)
CAUTION When the error case has been configured as

a warning, the triggering of the monitoring
function no longer causes the drive-side error
reaction. If the user does not react, the
installation/machine can be damaged or
destroyed!
The user must react in an installation-specific way to the triggering of the
monitoring function (error case).

correctly when the warning E2031 is detected, it is necessary to
initialize the encoder again.
The warning is cleared when changing from the operating mode
(OM) to the parameter mode (PM).
Cause Remedy
necessary


9.4.22 E2037 Excessive position command difference warning

When the drive is running in the operation mode "position control with cyclic
command value input", the incoming position command values (cf.
"S-0-0047, Position command value") are monitored. If the position difference
between two successive position command values is greater than or equal to
the value in "S-0-0091, Bipolar velocity limit value", the position command
value monitor is activated and the warning E2037 is generated, if this has
been configured via the list parameter "P-0-0173, List of configurable axis-
specific monitoring functions" in list element 1. The controller does not carry
out any other error reaction. As an alternative, the error "F2037 Excessive
position command difference" can be configured for this error case in the
parameter P-0-0173 in list element 1.
Warnings (Exxxx)

destroyed!
The excessive position command value is stored in parameter "P-0-0010,

Excessive position command value".
The last valid position command value is stored in parameter "P-0-0011, Last
valid position command value".
The warning is cleared when exiting the operation mode "position

control with cyclic command value input" or at the earliest 2
seconds after the error condition has stopped to exist.
Cause Remedy
Value in "S-0-0091, Bipolar velocity limit value" too low Check and, if necessary, correct parameterization of
"S-0-0091, Bipolar velocity limit value"

9.4.23 E2040 Device overtemperature 2 prewarning

A switch-off value for the second temperature sensor is stored in element 3 of

parameter "P-0-4059, Electric type data of power section".
If the parameter "P-0-0816, Amplifier temperature 2" exceeds the switch-off
threshold, the warning E2040 is output for 30 seconds. Afterwards, the
controller is switched off with the non-fatal error F2040.
Before the controller is switched off, it is possible to stop the axis via the
control unit in accordance with the process (e.g. terminate processing, leave
collision area etc.) or to reduce the load of the drive controller.
Cause Remedy
are valid up to an ambient temperature of 40 C. cabinet
Blower of device is defective Replace device
Warnings (Exxxx)

9.4.24 E2042 Encoder 2 warning: Encoder signals incorrect

Analog signals of the measuring system are monitored on hardware and

software level with regard to their amplitudes and signal shape. For digital
of a checksum (CRC).
disturbed in such a way that a position error occurs, or if a checksum error is
detected with digital measuring systems, this warning is generated, if this has
been configured via "P-0-0173, List of configurable axis-specific monitoring
functions", list element 2.
The controller does not carry out any other error reaction.
As an alternative, the error "F2042 Encoder 2: incorrect encoder

signals" can be configured for this error case (via P-0-0173, list
element 2).

destroyed!

Cause Remedy
necessary

Warnings (Exxxx)

9.4.25 E2043 Measuring encoder warning: Encoder signals incorrect

Analog signals of the measuring system are monitored on hardware and

software level with regard to their amplitudes and signal shape. For digital
of a checksum (CRC).
disturbed in such a way that a position error occurs, or if a checksum error is
detected with digital measuring systems, this warning is generated, if this has
been configured via "P-0-0173, List of configurable axis-specific monitoring
functions", list element 3.
The controller does not carry out any other error reaction.
As an alternative, the error "F2043 Encoder 3: incorrect encoder

signals" can be configured for this error case (via P-0-0173, list
element 3).

destroyed!

Cause Remedy
necessary

Warnings (Exxxx)
See also "E2076 Measuring encoder: encoder signals disturbed"

9.4.26 E2048 Low battery voltage (encoder)

For MSM series Rexroth motors, the absolute position information is

maintained, even when the drive controller has been switched off. This is
ensured by an encoder cable-integrated battery that buffers the encoder data
in case voltage is switched off.
The battery was designed for a service life of 10 years in its

installed state for a machine running in three-shift operation.
With the firmware MPx-18 and above, the battery voltage is measured
cyclically during operation; if the voltage falls below the allowed value, the
warning E2048 is output.
CAUTION Error caused by battery undervoltage when

controlling motors and moving parts!
If the battery is not replaced before the 24V control voltage is switched off,
the drive signals "F2048 Low battery voltage" after restart and during phase
switch to "OM" or "P4". This deletes the reference of the drive to the
mechanics.
Replace battery immediately!
Cause Remedy
Battery voltage has fallen below allowed value To avoid loss of reference, the battery has to be replaced
before the 24V control voltage is switched off. [Battery
replacement is described in the Project Planning Manual
"Rexroth IndraDrive Cs" (index entry "Battery,
replacement").]
See also Functional Description of firmware "Establishing the position data

reference"
E2048 - Detailed diagnostics 00510027

9.4.27 E2049 Positioning velocity >= limit value

In the operation modes in which the drive-internal position command value

interpolator is active, the velocity command value (positioning velocity)
effective in the drive is limited to the smallest parameterized velocity limit
value.
Warnings (Exxxx)
This means that the monitor is active in the following operation modes or
operating states:
Operation Modes ● Drive-internal interpolation
● Drive-controlled positioning
● Positioning block mode
Commands ● Position spindle
● Drive-controlled homing procedure
● Automatic control loop setting
● ...
Cause Remedy
Incorrect velocity has been preset (parameterized or Check parameterization or cyclic command value of control
cyclically preset value is too high) (cf. "S-0-0259, Positioning unit and set value for used preset velocity smaller than value
velocity", "S-0-0041, Homing velocity", "P-0-4007, from "S-0-0091, Bipolar velocity limit value", "S-0-0038,
Positioning block velocity" [i], "S-0-0222, Spindle positioning Positive velocity limit value" or "S-0-0039, Negative velocity
speed", "S-0-0091, Bipolar velocity limit value", "S-0-0038, limit value"
Positive velocity limit value", "S-0-0039, Negative velocity Note: Specified velocity is also affected by S-0-0108; check
limit value") S-0-0108.
"S-0-0091, Bipolar velocity limit value", "S-0-0038, Positive Check parameter contents of "S-0-0091, Bipolar velocity
velocity limit value" or "S-0-0039, Negative velocity limit limit value", "S-0-0038, Positive velocity limit value" and
value" incorrectly parameterized "S-0-0039, Negative velocity limit value". Check whether
parameter possibly has been assigned to an analog input or
is contained in cyclic data
Analog input to which "S-0-0091, Bipolar velocity limit Check wiring and function of analog input and, if necessary,
value", "S-0-0038, Positive velocity limit value" or "S-0-0039, replace cable or control section, or the entire drive controller
Negative velocity limit value" was assigned is defective or
not connected

See also Functional Description of firmware "Velocity Limitation"

9.4.28 E2050 Device overtemp. prewarning


sensor and a temperature model. When the heat sink has become too hot,
the device is switched off in order to protect it against destruction. Before the
error "F2018 Device overtemperature shutdown" is triggered, the warning
"E2050 Device overtemp. Prewarning" is output.
Warnings (Exxxx)
When the warning E2050 appears, it is possible to stop the axis

via the control unit in accordance with the process (e.g. terminate
processing, leave collision area etc.) or to reduce the load of the
drive controller.
Cause Remedy
Amplifier overtemperature (heat sink) due to overload of Switch drive off and let it cool down, check mechanical
drive (overcurrent) system as well as drive dimensioning (working power
mustn't exceed, on average, continuous power of drive)
Ambient temperature too high. Specified performance data Reduce ambient temperature, e. g. by cooling the control
are valid up to an ambient temperature of 40 °C cabinet
position of control cabinet ventilating heat sink
Failure of internal blower If blower fails, replace device or power section
discharge

9.4.29 E2051 Motor overtemp. prewarning

The motor temperature measured by the temperature sensor approaches the

limit value and has reached "S-0-0201, Motor warning temperature". The
controller outputs warning E2051.
As of MPx17: This warning is also generated if the motor load calculated in
the temperature model of the motor has exceeded the prewarning threshold.
The drive is not switched off (F2019) until the motor temperature has reached
the limit value in "S-0-0204, Motor shutdown temperature".
Cause Remedy
Incorrect parameterization of "S-0-0201, Motor warning Check and correct parameterization of "S-0-0201, Motor
temperature" warning temperature" by means of motor or temperature
sensor data sheet Check temperature display (S-0-0383) of
motor
As of MPx17: Incorrect parameterization of "P-0-0468, Check parameterization of temperature model (P-0-4034,
Prewarning threshold of therm. motor load". P-0-4035, P-0-4037). Check motor load and prewarning
threshold (P-0-0446, P-0-0468)
Warnings (Exxxx)
Cause Remedy
Motor is overloaded. Effective torque demanded from motor Check dimensioning of motor and reduce motor load, e.g.,
has been above allowed continuous torque for a too long by reducing feedrate in cutting operations. Or, in case of
time installations that have been operated for a long time, check
whether drive conditions have changed (with regard to dirt
accumulation, friction, moved masses, etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line
temperature monitoring interruption, ground fault or short circuit
Instability in speed control loop Check parameterization of speed control loop
Fan / cooler defective Check fan / cooler

E2051 - Detailed diagnostics 001D0003
0022006E
00220070

9.4.30 E2053 Target position out of travel range

In operation modes with internal position command value generation a check

is run, before a movement is carried out, in order to find out whether the
preset target position ("S-0-0258, Target position", "S-0-0282, Positioning
command value" or "P-0-4006, Positioning block target position" [i]) is within
the allowed travel range of the drive.
The allowed travel range of the drive is defined by
● S-0-0049, Positive position limit value
● S-0-0050, Negative position limit value
The position limit value monitor and thus the monitoring of the allowed travel
range is activated in "S-0-0055, Position polarities". The position limit value
monitor is only active, when the selected encoder is in reference.
The reaction to a travel range error can be set in "P-0-0090, Travel range
limit parameter".
When the position limit value monitor has been activated and the
target position is outside of the allowed travel range, a warning bit
is set in "S-0-0012, Class 2 diagnostics". In addition, the message
"S-0-0323, Target position outside of travel range" is set.
Up to MPx04: The positioning procedure is started.
As of MPx05: The positioning procedure is not started.
Warnings (Exxxx)
Cause Remedy
Position limit values ("S-0-0049, Positive position limit Check parameterization of position limit values and adjust it
value", "S-0-0050, Negative position limit value") incorrectly according to desired travel range ("S-0-0049, Positive
parameterized position limit value" has to be greater than "S-0-0050,
Negative position limit value")
Position limit value monitor has been activated although it is Deactivate position limit value monitor if it is not needed
not needed (e.g., in modulo operation)
In the case of relative interpolation, value for travel range Check preset travel range (cf. "S-0-0258, Target position")
was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program
cause effective target position (cf. "P-0-0050, Effective target
position") to be outside of position limits
In the case of absolute interpolation, preset target position is Check preset target position (cf. "S-0-0258, Target position"
incorrect or "S-0-0282, Positioning command value") and, if
necessary, adjust it in control unit program (only enter
"S-0-0258, Target position" within position limit values)
In "positioning block mode" one or more target positions Check parameterized target positions in "P-0-4006,
have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection
block is selected ("P-0-4026, Positioning block selection"). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).

Range Limit Switch"
For "relative interpolation", see Functional Description of firmware "Drive-
Controlled Positioning"
For "absolute interpolation", see Functional Description of firmware "Drive-
Internal Interpolation"
9.4.31 E2054 Not homed

Before a motion is carried out, a check is run in the case of operation modes
with drive-internal position command value generation (drive-internal
interpolation, drive-controlled positioning and positioning block mode) to find
out whether, with absolute target position preset ("S-0-0258, Target position"
or "S-0-0282, Positioning command value" or "P-0-4006, Positioning block
target position"), the measuring system used for positioning (cf. operation
mode selection) has been homed.
When the warning E2054 appears, the drive stops or does not
accept the target position or the positioning block. A warning bit is
set in parameter "S-0-0012, Class 2 diagnostics".
Warnings (Exxxx)
Cause Remedy
Absolute positioning was started although position data Establish absolute position data reference by starting
reference of drive had not yet been established [drive has command "S-0-0148, C0600 Drive-controlled homing
not been homed (cf. "S-0-0403, Position feedback value procedure command" or "S-0-0447, C0300 Set absolute
status")] position procedure command"
See also Functional Description of firmware "Establishing the Position Data

Reference"
9.4.32 E2055 Feedrate override S-0-0108 = 0

By means of the "S-0-0108, Feedrate override" it is possible to make a

proportional scaling for the travel velocity of drive-controlled travel commands
(0..100 %).
A feedrate override of 0 % causes the effective travel velocity to become "0".
In spite of velocity command value being present (e. g. "S-0-0259,
Positioning velocity"), the drive remains stopped at the current position or
brakes down until reaching standstill.
The function of the feedrate override can be switched off by

setting S-0-0108 = 100 %.
If S-0-0108 has been cyclically configured or assigned to an
analog input, this configuration has to be changed.
Cause Remedy
Parameter "S-0-0108, Feedrate override" was set to "0" Set feedrate override > "0" so that drive moves. Full velocity
is reached with 100%.
For devices with analog inputs: feedrate override via analog Apply voltage > "0" proportionally to desired velocity (+10 V
input has been activated and voltage at analog input is "0" corresponds to 100% of velocity) alternative: deactivate
feedrate override
Infeed potentiometer of connected control unit was set to "0" Carefully actuate infeed potentiometer, check analog signal
or is incorrectly evaluated and evaluation
Analog input used for feedrate override or connecting cable Check and if necessary replace cable and control section
is defective


Warnings (Exxxx)
9.4.33 E2056 Torque limit = 0

To protect the drive and the connected mechanics from mechanical overload,
the maximum torque or the maximum force can be limited to permissible
values.
Cause Remedy
One of the torque/force-limited parameters has the value "0" Check the parameters "S-0-0082, Torque/force limit value
positive", "S-0-0083, Torque/force limit value negative",
Torque/force peak limit" and enter a "correct" limit value (not
"0")
One of the torque/force-limiting parameters is assigned to an Apply a voltage larger than "0" proportional to the desired
analogue input and the voltage on the analogue input is "0" torque/force limit value
Note: The assessment of the analogue input defines the
weighting of the analogue input voltage
(see also firmware functional description "Analogue inputs")
The potentiometer of the connected control is on "0" or is Actuate the potentiometer carefully, check the analogue
evaluated incorrectly signal and evaluation
The cable connected to the analogue input for the torque/ Check cable and replace if necessary
force limitation is faulty
The analogue input used for the torque/force limitation is Replace control section or entire drive controller
faulty
A motor without encoder memory is used, where the motor Load the motor parameters via the motor database saved in
data is not yet set and the maximum permissible currents the commissioning software
(S-0-0109, S-0-0111,…) are still on "0"

See also firmware functional description ""Torque/force control""

9.4.34 E2058 Selected positioning block has not been programmed

In the "positioning block mode" the selected positioning block is checked so

that only complete positioning blocks can be started.
Warnings (Exxxx)
When the warning E2058 appears, the drive stops or does not
accept the selected positioning block. In parameter "S-0-0012,
Class 2 diagnostics" a warning bit is set.
Cause Remedy
Positioning block data of currently selected block are not Check positioning block data ("P-0-4006, Positioning block
available target position", "P-0-4007, Positioning block velocity",
"P-0-4008, Positioning block acceleration", "P-0-4009,
Positioning block jerk", and "P-0-4019, Positioning block
mode") and correct respective parameters
Incorrect positioning block selection via field bus or digital Check "P-0-4026, Positioning block selection" and control. If
inputs necessary, also check wiring and connection of digital I/Os
Incorrect configuration of digital inputs causes unwanted Check configuration of digital inputs and correct it
positioning block selection accordingly

9.4.35 E2059 Velocity command value limit active

The drive permanently monitors the effective velocity command value (sum of
velocity command values at controller input) and limits it.
Cause Remedy
Cyclic command value preset by control unit is incorrect or Check cyclic command value and, if necessary, adjust
too high control program
velocity limit value"
All firmware products not requiring export licenses released Reduce velocity command value to allowed value.
as of 2014-12-312) (functional packages "0: open-loop
package" or "1: closed-loop package"):
operation


Warnings (Exxxx)
9.4.36 E2061 Device overload prewarning

The load of the device has exceeded a signaling threshold. A warning is

generated, alerting the user to reduce the load in order to avoid an overload.
Devices with digital control are monitored by a continuously running
temperature model. If the thermal load approaches 100%, the continuous
current limitation function is activated shortly thereafter and warning "E8057
Device overload, current limit active" is displayed.
Current limitation is accompanied by a reduction in torque/force, which may
lead to problems on machines and installations. For this reason, a warning is
output before such a situation may occur.
The warning sets bit 1 in "S-0-0012, Class 2 diagnostics".
For HCS, HMS, HMD The threshold value for the overload prewarning can be set in "P-0-0441,
Drive load warning threshold". If the thermal load exceeds this value, warning
E2061 is output. Useful values for "P-0-0441, Drive load warning threshold"
are 80% to 90% to ensure a buffer before the actual thermal load (100%) is
reached.
The warning can be deactivated by setting a value in "P-0-0441,

Drive load warning threshold" that exceeds 100% because, in this
case, the fatal warning "E8057 Device overload, current limit
active" is generated when the controller limits the output current.
As of MPx17: When the function "PWM frequency switching

depending on load" has been selected (P-0-0045, bit 11 and
bit 7), the device is switched to a lower switching frequency when
the prewarning threshold is exceeded.
The device is switched to the higher frequency, when the load in
P-0-0141 falls below an internally calculated threshold. The value
of this threshold is lower than the value in parameter "P-0-0441,
Drive load warning threshold".
As long as the controller is operated with the lower switching
frequency, warning "E2061 Device overload prewarning" is
displayed.
For HMV01.1R The threshold value for the overload prewarning is fixed to 90%. If the
thermal load exceeds this value, warning E2061 is output. This threshold
cannot be set and therefore the warning cannot be deactivated!
Cause Remedy
Inappropriate value of "P-0-0441, Drive load warning Increase value of "P-0-0441, Drive load warning threshold" if
threshold" necessary
Overload of drive (e.g., due to excessive infeed during Switch drive off and let it cool down. Check drive sizing and
machining or high acceleration to high speed) command value profile
Changes in mechanical system with regard to friction and If installations have been operated for a prolonged time
moved masses period, check drive conditions for changes in mechanical
system

Warnings (Exxxx)

9.4.37 E2063 Velocity command value > limit value

The drive permanently monitors the velocity command value (S-0-0036 or

another parameterized command value input).
If the velocity command value exceeds the smallest parameterized velocity
limit value, the lag error can be increased for positioning tasks.
Cause Remedy
Cyclic command value preset by control unit is incorrect or Check cyclic command value and, if necessary, adjust
too high control program
velocity limit value", "S-0-0038, Positive velocity limit value",
"S-0-0039, Negative velocity limit value"
All firmware products not requiring export licenses released Reduce velocity command value to allowed value.
as of 2014-12-313) (functional packages "0: open-loop
package" or "1: closed-loop package"):
operation

9.4.38 E2070 Acceleration limit active

The acceleration in the velocity loop is limited to the value of "S-0-0138,

Bipolar acceleration limit value".
With drive-internal command value generation, the values of the effective
command acceleration are limited to the value of "S-0-0138, Bipolar
acceleration limit value".
The acceleration limit can be switched off by inputting "0" in

"S-0-0138, Bipolar acceleration limit value".

Warnings (Exxxx)
Cause Remedy
Value in "S-0-0138, Bipolar acceleration limit value" too low Check and, if necessary, correct parameterization of
"S-0-0138, Bipolar acceleration limit value"
Preset acceleration value was greater than or equal to value Reduce acceleration value used
parameterized in "S-0-0138, Bipolar acceleration limit value" ● S-0-0042, Homing acceleration
● S-0-0260, Positioning acceleration
● S-0-0359, Positioning deceleration
● S-0-0372, Drive Halt acceleration bipolar
● S-0-0429, Emergency halt deceleration
● P-0-0057, Return acceleration
● P-0-0142, Synchronization acceleration
● P-0-0170, Drive optimization, acceleration
● P-0-0687, Additive position command value,
positioning acceleration
● P-0-1201, Ramp 1 pitch
● P-0-1203, Ramp 2 pitch
● P-0-1211, Deceleration ramp 1
● P-0-1223, List of acceleration ramps
● P-0-1224, List of deceleration ramps
● P-0-4008, Positioning block acceleration

9.4.39 E2074 Encoder 1: Encoder signals disturbed

For absolute measuring systems, the position generation via the incremental
track signals (SIN/COS) is monitored by cyclic comparison to the absolute
position of the encoder. This allows detecting disturbances of the analog
encoder signals.
MPx16 As of MPx17 As of MPx20
EnDat2.1 x x x
Encode HIPERFACE - x x
r
Combined
- - x
encoder for SSI
0 to 30 rpm or 1,000 0 to "S-0-0602.x.8, Phys.
Velocity range* 0 to 30 rpm or 30 mm/min
mm/min maximum initialization velocity"
* Beyond the specified velocity range, cyclic monitoring of the

position is impossible
Warnings (Exxxx)
The warning E2074 is only cleared by reinitialization of the

encoder position; i.e. it is necessary to switch to the parameter
mode (PM).
Cause Remedy
necessary
Defective measuring system Check measuring system and replace it, if necessary
Firmware version 20 and above: Exchange the encoder battery
Low voltage of the encoder battery
From firmware version 20 with encoders of type Read the value transmitted from the encoder to the drive in
"ACURO®link", "HIPERFACE", "EnDat 2.1" and S-0-0603.x.5. Cause and remedy, if required, can be found
"EnDat 2.2": in the documentation of the connected encoder.
Encoder diagnosis set in the encoder

9.4.40 E2075 Encoder 2: Encoder signals disturbed

encoder signals.
EnDat2.1 x x x
r
Combined
- - x
encoder for SSI


mode (PM).
Warnings (Exxxx)
Cause Remedy
necessary
"ACURO®link", "HYPERFACE", "EnDat 2.1" and S-0-0603.x.5. Cause and remedy, if required, can be found

9.4.41 E2076 Measuring encoder: Encoder signals disturbed

encoder signals.
EnDat2.1 x x x
r
Combined
- - x
encoder for SSI


mode (PM).
Cause Remedy
necessary
Warnings (Exxxx)
Cause Remedy
"ACURO®link", "HYPERFACE", "EnDat 2.1" and S-0-0603.x.5. Cause and remedy, if required, can be found

9.4.42 E2077 Absolute encoder monitoring, encoder 1 (encoder alarm)


diagnostic message was "Absolute encoder monitoring, motor
encoder (encoder alarm)".
The signals of an absolute measuring system (EnDat2.x) are monitored in the

encoder.
The absolute position is cyclically transmitted in the drive controller. The
encoder error bit is also transmitted. The drive controller checks this error bit
cyclically and outputs the warning E2077 if errors of the absolute position
occur.
The warning E2077 is only cleared by reinitializing the encoder

position; i.e. it is necessary to switch to communication phase 2.
Cause Remedy

9.4.43 E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)

Warnings (Exxxx)

encoder.
In the drive controller, cyclic transmission of the absolute position is carried
out. The error bit of the encoder is transmitted, too. The drive controller
cyclically checks this error bit and outputs the warning E2078 when an error
of the absolute position occurs.

encoder position; i.e. it is necessary to switch to communication
phase 2.
Cause Remedy

9.4.44 E2079 Absolute enc. monitoring, measuring encoder (encoder alarm)


encoder.
In the drive controller, cyclic transmission of the absolute position is carried
out. The error bit of the encoder is transmitted, too. The drive controller
cyclically checks this error bit and outputs the warning E2079 when an error
of the absolute position occurs.

encoder position; i.e. it is necessary to switch to communication
phase 2.
Cause Remedy

9.4.45 E2086 Prewarning supply module overload

The supply signals a warning regarding imminent overload via the module
bus. The warning is displayed at the drive controllers and can be evaluated
Warnings (Exxxx)
by the control master via the master communication. If there is no relief, the
module bus message "error supply module" and power off (F2086) can
occur.
Cause Remedy
Imminent overload of power supply Reduce required power by lower infeed velocity of tools.
Check dimensioning of supply
Max. energy absorption capacity of braking resistor almost Check dimensioning of braking resistor and, if necessary,
reached increase dimensioning

9.4.46 E2092 Internal synchronization defective

The drive is told by the NC cycle time in which intervals new cyclic command
values must be received and have been processed. The warning E2092 is
generated, when the parameterized processing clock ["S-0-0001, NC cycle
time (TNcyc)"] differs from the effective processing clock of the cyclic
command values.
Cause Remedy
Master communication with synchronization ability Master communication master must toggle "IPOSYNC" bit
(EtherCAT) correctly (see description of master communication)
If NC cycle time is greater than sercos cycle time, master
communication master must toggle "IPOSYNC" bit of master
control word; if this is not the case or takes place incorrectly,
warning E2092 is generated
Master communication with synchronization ability (sercos) Producer of synchronous consumer connection must toggle
With synchronous consumer connection, producer must "new data" bit at point of time TPcyc
transmit new data to consumer at a defined point of time.
Producer signals this to consumer by toggling bit1 ("new
data" bit) of "S-0-1050.x.8, sercos connection: Connection
control (C-Con)". Producer did not toggle this bit at point of
time TPcyc.
Drive is a CCD master axis Please contact our service department

With activated CCD communication, drive is also a sercos
master; i.e., drive generates an MDT and transmits it to the
other axes in CCD ring. Warning E2092 is generated, when
MDT could not be generated in time

Warnings (Exxxx)
9.4.47 E2099 Power section warning

Collective message for warnings, which are transmitted by the power section.
book.
Cause Remedy
section

9.4.48 E2100 Positioning velocity of master axis generator too high

Cause Remedy
Positioning velocity of master axis generator exceeds Reduce positioning velocity (P-0-0770, Virtual master axis,
velocity limit value. Velocity is limited to limit value. positioning velocity)
- or -
Increase velocity limit value (P-0-0762, Virtual master axis,
velocity limit value)

9.4.49 E2140 CCD error at node

The warning is generated,

1. when the CCD group is in phase 4,
2. at least the simple error reaction has been activated via P-0-1600 and
3. at least one CCD node signals an error of class 1 diagnostics.
Cause Remedy
In a CCD slave or in CCD master, an error of class 1 Remove error in CCD slave or CCD master
diagnostics has occurred
In a CCD slave or in CCD master, a motion function block Remove error in PLC program
with faulty parameters was called in drive-integrated PLC
(IndraMotion MLD-M) [see also "P-0-1367, PLC
configuration", bit 7]

Warnings (Exxxx)

9.4.50 E2266 Restoring device data requires control panel action

If the message Restore? is displayed on the operating panel, progression to

the operating mode (OM) is disabled. Warning E2266 is displayed for the
external display of this state. The message can be deleted using the "Esc"
key on the operating panel without any further action.
WARNING The operating data of the device or the

system are overwritten when the message on
the operating panel is acknowledged using
the "Enter" key!
The "Enter" key is to be activated only if the machine archive has been
identified correctly on the operating panel and either the "Serial
commissioning" or the "Operating panel change" application is given as the
cause. The command "C6600" is carried out for restoring the saved operating
data.
The "Restore?" message is supplemented on the operating panel

with the content of parameter "S-0-1302.x.03, Application Type"
as saved in the machine archive. This parameter can be used to
identify the system saved in the machine archive. It is up to the
user to decide whether the operating data saved in the machine
archive are restored by activating the "Enter" key on the operating
panel.
Application Action
Serial commissioning Activate the "Enter" key on the operating panel. The
The operating data saved in the machine archive originate command "C6600" is carried out for restoring the saved
from another system. The machine archive has been copied operating data. The system is provided with the operating
to the memory card or the memory card itself originates from data of the other system (reference system).
another system.
Replacement of operating panel Activate the "Enter" key on the operating panel. The
All operating data of the device are saved on the operating command "C6600" is carried out for restoring the saved
panel. When it is replaced due to a defect, the operating operating data.
data saved in the machine archive can be restored.
Machine archive not suitable for the system 1. Activate "Esc" on the operating panel. The machine
A memory card which is not suitable for the system has archive is ignored until the device is switched on for
been inserted or a machine archive which does not originate the next time.
from the system has been copied to the memory card. 2. Before switching on for the next time, remove the
memory card or save the content of the "Backup"
directory of the memory card on an external storage
medium and then delete it from the memory card.
Warnings (Exxxx)
If the data are restored by activating the "Enter" key, the device
serial numbers are replaced by the serial numbers of the system
in the machine archive. The machine archive is thus adapted to
the system and the applications "Serial commissioning" and
"Operating panel change" are completed. Thereby, the machine
archive might not fit the reference system any longer.
See also Functional Description of firmware "Backup & Restore"

9.4.51 E2267 Updating device data requires control panel action

If the message Update? is displayed on the operating panel, progression to

the operating mode (OM) is disabled. Warning E2267 is displayed for the
external display of this state. The warning E2267 can only be deleted by
activating the "Enter" or "Esc" key on the operating panel of the device. The
command "C67" for updating the operating data is carried out when the
message on the operating panel is acknowledged using the "Enter" key. The
message can be deleted using the "Esc" key on the operating panel without
any further action.
WARNING The operating data of the device or the

system are overwritten!
The "Enter" key is to be activated only if the additional information on the
operating panel fit the update data, the number and type of the update files in
the "Update" directory on the memory card have been checked and either the
"Serial commissioning" or the "Update" application is given as the cause.
The Update? message is supplemented by an additional

information for verification on the operating panel. The additional
information relates to the first file found in the update data. If there
are several files available, this is not displayed. The sequence for
the search of update files and the resulting additional information
is as follows:
1. Machine archive (ZIP file with MPC): Content of the
parameter "S-0-1302.x.03, Application type" as saved in the
machine archive.
2. Firmware file: Name of the ibf file including the indication of
the numbered axis directory which contains the file.
3. Parameter file: Name of the par file including the indication
of the numbered axis directory which contains the file.
4. MLD project file: Indication of the "PLC" directory (only with
local axes)
Warnings (Exxxx)
Cause Remedy
Application initial commissioning "light": Activate the "Enter" key on the operating panel. The
● The operating data shall be taken from another system command "C67" is carried out for updating the operating
without changes to the device addresses. For this data. The system is provided with the selected operating
purpose, the machine archive created in the other data of the other system (reference system).
system has been copied as an update file to the
memory card.
- or -
● Not all operating data shall be taken from another
system. For this purpose, individual files have been
taken from the machine archive created in the other
system and copied as update data to the memory
card.
Application "Update without PC": Activate the "Enter" key on the operating panel. The
In a service case, it may be necessary to provide the command "C67" is carried out for updating the operating
customer with an update of individual parameters, the data. The operating data of the system are overwritten with
firmware or the MLD. For updating, the customer has the content of the update data.
inserted the supplied memory card into the operating panel
of the device or the update file has been copied to the
inserted memory card via FTP.
Update data not suitable for the system: 1. Activate "Esc" on the operating panel. The update data
A memory card with update data has been inserted or faulty are ignored until the device is switched on for the next
update data have been copied to the memory card. time.
2. Remove the memory card before switching on for the
next time
- or -
save the content of the "Update" directory of the
memory card on an external storage medium and then
delete it from the memory card.
A machine archive (ZIP file with MPC) or individual files from a

machine archive are permissible as update files only. At least, the
files have to correspond to the files from a machine archive
created by the "C65" command as regards name and context.
In order to keep the update data on the memory card after an

update, the date of each file loaded as operating data into the
device or the system during the update is saved in the system
parameter "P-0-0669.0.1" in a binary format. Only those files
which have a date differing from the saved date are considered
during the update.
See also Functional Description of firmware "Backup & Restore"

9.4.52 E2667 Machine archive is not up-to-date

Warnings (Exxxx)
Cause Remedy
Device data to backup were changed by command C6700. Execute command C6500 for updating machine archive with
Machine archive on external memory card is no longer up- device data from update.
to-date. - or -
Execute command C6600 to restore device data from
machine archive.

9.4.53 E2810 Drive system not ready for operation

One or several components of a "drive system" (devices interconnected via

direct voltage DC bus and module bus or IndraBus) signal an error via the
module bus (Fxxxx) with the supply unit not yet ready for power output.
Power on is impossible in this case, the supply unit or the converter signal
E2810 on the display.
If power on has been locked by the IndraBus or module bus, the

axes show this in the drive status word (S-0-0135) by "00" in
bit 14 and 15.
Cause Remedy
Error message of one or several components of a drive Identify component/components which signals/signal an
system error. Remove cause of error at component/components
See also Functional Description of firmware "Power supply"

9.4.54 E2811 Overtemp. in mains connection module/soft start module

The maximum permissible temperature of the internal cooling element or the

internal throttle was exceeded.
Cause Remedy
The permissible ambient temperature is exceeded Make sure that the maximum permissible ambient
temperature is not exceeded.
The inlets/outlets of the cooling air flow are blocked Ensure that the minimum distances on the cooling air inlets
and outlets are complied with and the cooling air can
circulate unimpeded
The device fan is faulty Replace the device
Warnings (Exxxx)

9.4.55 E2814 Undervoltage in mains

The crest value of the mains voltage during operation has fallen below the
parameterized threshold value. The threshold value can be individually set by
the user via "P-0-0810, Minimum mains crest value".
Cause Remedy
Mains voltage falls under load Check dimensioning of mains connection, increase feed wire
cross section or use matching transformer, if necessary
Mains voltage too low at power on Use matching transformer


The warning E2816 is generated with the respective setting in "P-0-0118,

Power supply, configuration" when the DC bus voltage in operation falls
below the values parameterized in "P-0-0114, Undervoltage threshold".
The parameter "P-0-0114, Undervoltage threshold" is preset with

a default value and, if required, can be changed by the user.
Cause Remedy
DC bus voltage drops due to temporary overload Check drive dimensioning incl. devices connected at DC bus
Required acceleration currents are too high Reduce command acceleration by adjusting travel profile
Faulty mains connection (e.g. loose contact) Check mains connection
"P-0-0114, Undervoltage threshold" has not been adjusted Check and, if necessary, correct content of "P-0-0114,
to conditions in mains Undervoltage threshold"

9.4.57 E2819 Mains failure

Warnings (Exxxx)
A two-phase or three-phase mains failure was detected. Power is not

switched off unless undervoltage occurs in the DC bus (E2026).
Cause Remedy


9.4.58 E2820 Braking resistor overload prewarning

A temperature model, taking the continuous power and the maximum energy
absorption of the braking resistor into account, is calculated for the thermal
load of the braking resistor. When the thermal load reaches the warning
threshold, this warning is output and bit 1 is set in "S-0-0012, Class 2
diagnostics".
MPx16VRS: The warning threshold is fixed to 90%.
As of MPx17VRS: The warning threshold can be set by the parameter
"P-0-0469, Prewarning threshold of therm. load of braking resistor".
Cause Remedy
Allowed deceleration of connected drives is too high Reduce deceleration of connected drives
Energy absorption capacity of braking resistor is almost Switch power off with a delay in the case of OFF or E-STOP
exhausted (for regenerative supply units)
Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum drive speed of
application
Braking resistor connection is interrupted Check wiring of external braking resistor
Continuous regenerative power and/or rotary drive energy is Check sizing of braking resistor; increase sizing if necessary
too high
As of MPx17: Parameterization of "P-0-0469, Prewarning Parameterize "P-0-0469, Prewarning threshold of therm.
threshold of therm. load of braking resistor" is wrong load of braking resistor" correctly

9.4.59 E2822 Mains connection temperature monitoring defective

The temperature sensor function in the KNK mains filter is cyclically

monitored. If the measured temperature is less than or equal to -40 °C, the
warning E2822 is output.
If the sensor temperature has not risen above -40 °C after 30 seconds, the
error "F2822 Mains connection temperature monitoring defective" is output
and drive enable is switched off.
Warnings (Exxxx)
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check connection of KNK mains filter to the supply unit.
Check temperature sensor connection line for mains filter
and corresponding terminals with regard to interruption and
short circuit.

9.4.60 E2829 Not ready for power on

The mains voltage for power supply cannot yet be switched on for the
converter; the device is not yet ready for charging the DC bus capacitors.
Cause Remedy
Resistors for charging DC bus capacitors still are thermally Wait until converter clears warning E2829
loaded due to last charging process

9.4.61 E2834 Switching off via OFF input

The "supply units" IndraDrive ML (HMV054) ) are controlled via the master
communication; i.e. the mains contactor is switched on/off and the enable
signal is set via the control word of the supply units (S-0-1720.0.1).
Despite active master communication, the supply unit can be switched off at
the HNA05 mains connection module (XG33:4 and XG33:5), or it can be
prevented from being switched on.
Cause Remedy
OFF contact (XG33:4 and XG33:5) opens while supply unit Remove the supply unit enable signal (S-0-1720.0.1).
switched on OFF signal wiring possibly has to be modified.
OFF contact (XG33:4 and XG33:5) has opened and the
supply unit enable signal is set via the master
communication

4) HMV05 is the designation of a supply unit consisting of HNA05 mains connection

module, HMU05 universal inverter and CSB02.5 control section with firmware for
supply units (FWA-INDRV*-PSB-…). HMV05 is not an official product designation
and is used for documentation purposes only.
Warnings (Exxxx)
9.4.62 E2841 Prewarning: Mains connection overtemperature

The KNK mains filter temperature measured by the temperature sensor is

higher than the prewarning threshold specified for the device. If the
temperature continues to increase, the supply unit is switched off and the
error "F2841 Shutdown: Mains connection overtemperature" is signaled.
Cause Remedy
The supply unit is overloaded. Reduce load. To prevent the supply unit from being switched
off, this can also be done temporarily by the control unit.
Check sizing of the installation.
In the case of installations that have been operated for a
long time, check whether drive conditions have changed
(with regard to dirt accumulation, friction, moved masses
etc.).
If an external cooling system is available: Check sizing of
cooling system.
Fan has failed Check cooling system
- or -
Defective coolant pump
- or -
Cooling circuit not connected
Cooling system dirty Clean heat sink. In the case of water cooling: Check flow
and clean pipes, if necessary.
Ambient temperature too high. Check whether or not ambient temperature exceeds
temperature allowed according to Project Planning Manual.
Check control cabinet cooling system. An air conditioning
unit is possibly required.
Bad transmission in cooling system Check device mounting on external cooling system.
Retighten mounting screws. If necessary, use heat transfer
compound in accordance with mounting instructions. Ensure
plane connection.
Heat transmission by convection or heat conduction by Check inward flow of cooling air. Increase distance between
neighboring devices or parts the devices. Thermally insulate heat sources on the external
cooling system.
Missing or bad convection Ensure free inward flow of cooling air
Incorrect control cabinet sizing with regard to heat Check control cabinet sizing
dissipation
Device-internal cooling has failed Replace mains connection

Diagnostic command messages
10 Diagnostic command messages

10.1 Commands
10.1.1 C0100 Communication phase 3 transition check
The "S-0-0127, C0100 Communication phase 3 transition check" command

was activated.
C0100 - Attributes Display: C01
Diagnostic no.: C0100
Diagnostic no. as of 18VRS: C30C0100
10.1.2 C0200 Exit parameterization level procedure command

The command "S-0-0422, C0200 Exit parameterization level procedure

command" has been activated.
10.1.3 C0300 Set absolute position procedure command

The command for setting the absolute position ("S-0-0447, C0300 Set
absolute position procedure command") has been activated.
See also Functional Description of firmware "Establishing Position Data
Reference for Absolute Measuring Systems"
10.1.4 C0400 Activate parameterization level 1 procedure command

The command for switching to the parameter mode was started via
parameter "S-0-0420, C0400 Activate parameterization level 1 procedure
command".
10.1.5 C0500 Reset class 1 diagnostics, error reset

The command for clearing errors, "S-0-0099, C0500 Reset class 1

diagnostics", was activated. All drive-internal errors are cleared.
Only those errors can be cleared that were removed! Errors that
are still present after clearing will cause the error message to be
generated again.
CAUTION Damage to the internal memory (flash)

caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.

10.1.6 C0600 Drive-controlled homing procedure command

The command for drive-controlled homing, "S-0-0148, C0600 Drive-

controlled homing procedure command", was activated.
See also Functional Description of firmware "Drive-Controlled Homing"
10.1.7 C0700 Load defaults proced. command (motor-spec. controller val.)

Up to MPx16V18, the name of this command was "C0700 Load

defaults procedure com. (load controller param.)".
The message "C07_0" on the display of the drive controller shows that the
command "C0700 Load defaults proced. command (motor-spec. controller
val.)" was activated.
The command can be started as follows:
● Via the parameter "S-0-0262, C07_x Load defaults procedure
command" or
● Via the control panel of the drive controller or
● By starting the command "S-0-0099, C0500 Reset class 1 diagnostics"

when the drive controller displays "RL". ("RL" occurs if parameters
"S-0-0141, Motor type" and "P-0-2141, Motor type, encoder memory"
are different.)
With the parameter S-0-0262, it is possible to start other

commands. In parameter "P-0-4090, Configuration for loading
default values", it is possible to set which command is started.
The command "C0700 Load defaults proced. command (motor-spec.

controller val.)" can only be executed for Rexroth motors with motor encoder
data memory (e.g. motors of the MHD, MKD and MKE lines). With these
motors, the controller parameters are loaded from the motor encoder data
memory to the drive controller and some controller parameters are set to their
default values.
NOTICE The command "C0700 Load defaults proced.

command (motor-spec. controller val.)"
overwrites user-defined controller settings!
Only use this command if you want to load standard controller parameter
values. For saving and then loading user-defined parameter values, there are
specific commands available.
NOTICE Damage to the internal memory (flash)

During the execution of this command, data are written to the internal
memory (flash). This memory, however, only allows a limited number of write
accesses. For this reason, you should make sure that such write accesses
are not carried out too often (a maximum of approx. 100,000 writing cycles).

● "Loading, Storing and Saving Parameters"
● "Control Panel of the IndraDrive Controller"
C0700 - Attributes Display: C07_0
10.1.8 C0710 Command Load power-supply specific controller values

"C0710 Command Load power-supply specific controller values" has been
activated
1. In "P-0-4090, Configuration for loading default values", enter the value
"0x0006".
2. Start "S-0-0262, C07_x Load defaults procedure command".


Diagnostic no. as of 18VRS: 070C0710
10.1.9 C0720 SMO: Load defaults procedure command

command "C0720 SMO: Load default procedure command" was activated.
1. Enter the value "0x0005" in the parameter "P-0-4090, Configuration for
loading default values".

CAUTION Command C0720 deactivates the safety

technology and overwrites user-defined
safety technology settings!
Use this command only if you want to commission a new safety technology.

10.1.10 C0730 Load defaults procedure command (MLD)

Contained in 19VRS: «MPB» «MPE» «-» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «-» «MPC» «PSB»
Up to MPx16V18, the name of this command was "C0730 Load

def. proc. com. (load defaults procedure for PLC)".
Message "C07_3" on the display of the drive controller shows that command
"C0730 Load defaults procedure command (MLD)" was activated.

CAUTION Command "C0730 Load defaults procedure

command (MLD)" deactivates the drive PLC
and overwrites user-defined PLC settings!
Use this command only if you want to completely erase the PLC program and
its parameters without programming system.

10.1.11 C0740 Command Activate field bus profile settings

command "C0740 Command Activate field bus profile settings" was
activated. The command execution sets user-defined parameters depending
on the field bus profile to their default values.


10.1.12 C0750 Load defaults procedure command (factory settings)

Up to MPx16V18, the name of this diagnostic message was

"C0750 Load defaults procedure com. (load basic parameters)".
By executing command "C0750 Load defaults procedure command (factory

settings)", the parameters stored in non-volatile form are reset to the factory
settings. It is possible to exclude parameters of certain subfunctions from
loading of default values (see "P-0-4090, Configuration for loading default
values").
NOTICE Damage to the internal memory (flash)

During the execution of this command, data are written to the internal
memory (flash). This memory, however, only allows a limited number of write
accesses. For this reason, you should make sure that such write accesses
are not carried out too often (a maximum of approx. 100,000 writing cycles).

10.1.13 C0900 Position spindle command

Via the control unit the "S-0-0152, C0900 Position spindle command"
parameter was activated.
See also Functional Description of firmware "Spindle Positioning"
10.1.14 C1200 Commutation offset setting command

The command for setting the commutation offset, "P-0-0524, C1200

Commutation offset setting command", was activated.
Which one of the two methods with current (saturation or sine-wave method)
is to be active has to be set in "P-0-0522, Control word for commutation
setting" before.
Correctly set commutation offset is obligatory for operating

synchronous kit motors and synchronous third-party motors!
See also Functional Description of firmware "Commutation Setting"

10.1.15 C1300 Positive stop drive procedure command

The command "S-0-0149, C1300 Positive stop drive procedure command"

was activated.
See also Functional Description of firmware "Positive Stop Drive Procedure"
10.1.16 C1400 Command Get marker position

The "P-0-0014, C1400 Command Get marker position command" was

started.
The "C14" display signals that the command is executed.
In the case of incremental measuring systems, the reference mark is checked

for correct detection.
See also Functional Description of firmware "Detect marker position"
10.1.17 C1500 Cancel reference point procedure command

The command "S-0-0191, C1500 Cancel reference point procedure

command" was started.
The reference of the encoder selected via "S-0-0147, Homing parameter" is
cleared.
10.1.18 C1600 Parking axis command

The command "S-0-0139, C1600 Parking axis command" has been

activated.
See also Functional Description of firmware "Parking Axis"
C1600 - Attributes Display: PA
10.1.19 C1800 Command Drive optimization/command value box

Depending on the settings in the control word for drive optimization

(P-0-0165), one of the following functions starts in the drive with the
execution of the command C1800 (P-0-0162):
● Automatic control loop setting
● Drive-internal command value box
● Determination of cogging torque compensation tables
DANGER Lethal injuries by controlling motors and

moving parts!
⇒ If drive enable is present, a motion can be triggered immediately after
starting command C1800.
⇒ The drive carries out motions independently (i. e. without external
command value specification) within the two limits P-0-0166 and P-0-0167 or
within the travel range defined by P-0-0169.
The function of the emergency-stop chain and the travel range limit switch
must be guaranteed and checked.
For more detailed information, see the following function descriptions:

● "Automatic Setting of Axis Control"
● "Drive-internal "Command Value Box""
● "Cogging Torque Compensation"
10.1.20 C2000 Command Release motor holding brake

The command "P-0-0542, C2000 Command Release motor holding brake"

was started.
During the command execution, the motor holding brake is released.
10.1.21 C2100 Command Holding system check

The command "P-0-0541, C2100 Holding system check command" was

activated.
See also Functional Description of firmware "Holding Brake"
10.1.22 C2200 Backup working memory procedure command

The command "S-0-0264, C2200 Backup working memory procedure

command" was activated.


10.1.23 C2300 Load working memory procedure command

The command "S-0-0263, C2300 Load working memory procedure



10.1.24 C2400 Selectively backup working memory procedure command

The "S-0-0293, C2400 Selectively backup working memory procedure

10.1.25 C2800 Analog input adjustment command

By executing the command "P-0-0220, C2800 Analog input adjustment

command", it is possible to carry out an automatic adjustment (zero point and
gain) of the analog input.
The command is controlled by the settings in "P-0-0218, Analog

input, control parameter".
The execution of the command takes some time; the status of the
command can be polled via the assigned command parameter.

● "Command Processing"
● "Analog Inputs"
10.1.26 C3100 Recalculate actual value cycle

When the command "P-0-0071, C3100 C3100 Command Recalculate actual

value cycle" is executed, the modulo value for the actual value cycle is
recalculated.
The calculated modulo value can be taken from the parameter"P-0-0786,
Modulo value actual value cycle".
10.1.27 C3200 Command Calculate motor data

The command is started via the command parameter "P-0-4033, C3200

Command Calculate motor data".
While the command is executed, the values in "P-0-4032, Motor type plate
data" are checked for validity and completeness. Then the motor parameters
are calculated according to type plate data.
To calculate the controller parameters the current settings is

"P-0-0001, Switching frequency of the power output stage" and
"P-0-0556, Control word of axis controller" (with regard to
controller performance) are taken as basis. If one of these
parameters is changed after the command has been started, the
controller settings may not be correct any more.

10.1.28 C3300 Set coordinate system procedure command

The command for setting the coordinate system ("S-0-0197, C3300 Set
coordinate system procedure command") was activated.
See also Functional Description of firmware "Shifting the Position Data
Reference for Relative and Absolute Measuring Systems"
10.1.29 C3400 Shift coordinate system procedure command

The command for shifting the coordinate system ("S-0-0199, C3400 Shift
coordinate system procedure command") was activated.
See also Functional Description of firmware "Shifting the Position Data
Reference for Relative and Absolute Measuring Systems"
10.1.30 C3600 Command Motor data identification

WARNING Motor might be set into motion!
● With rotary motors, make sure the motor shaft can move freely!
● With linear motors, check motion range (see P-0-0601) and only start
C3600 when the axis is in a collision-free initial position!
The command "P-0-0565, Command Motor data identification" was activated.

The command can be configured in different ways using P-0-0601:
● Identifying (or optimizing) the motor parameter values
Appropriate start values already have to be available.
● Determining the magnetizing characteristic (for asynchronous motors

only)
● Checking the motor and motor encoder validity (MPx-17 and above)
● Checking the rotational direction of motor and motor encoder (MPx-17
and above)
See also Functional Description of firmware "Automatic setting of motor
control"
10.1.31 C3800 Command Apply motor holding brake

The command "P-0-0543, C3800 Command Apply motor holding brake" was
started.
While the command is executed the motor holding brake is applied.
10.1.32 C3900 Command Holding brake resurfacing

The command "P-0-0544, C3900 Command Holding brake resurfacing" was

activated.
10.1.33 C4000 SMO: Safe homing procedure command

The command "P-0-3253.0.2, SMO: C4000 Safe homing procedure

command" was activated [either directly or within the scope of drive-
controlled homing (C0600)].
A Safe homing procedure is carried out at the command execution to achieve
the "safely homed" status of the SMO encoder position feedback value. The
status is displayed in P-0-3256.
homing procedure"
10.1.34 C4100 Switch parameter set command

The command "S-0-0216, C4100 Switch parameter set command" was

started.
See also Functional Description of firmware "Parameter Set Switching"
10.1.35 C4200 Drive-controlled oscillation command

The command "S-0-0190, C4200 Drive-controlled oscillation command" was

started.
See also Functional Description of firmware "Drive-Controlled Oscillation"
10.1.36 C4300 NC-controlled homing procedure command

The command for NC-controlled homing ("S-0-0146, C4300 NC-controlled

homing procedure command") was activated. The master inputs the
command values for moving the axis to the reference point and controls the
homing procedure via commands and the respective parameters.
The control information for homing has to be defined in

"S-0-0147, Homing parameter".

Reference for Relative Measuring Systems"
10.1.37 C4400 Calculate displacement procedure command

The command for calculating the displacement values ("S-0-0171, Calculate

displacement procedure command") was activated.
See also "S-0-0175, Offset parameter 1" and "S-0-0176, Offset parameter 2"
10.1.38 C4500 Displacement to referenced system procedure command

The command "S-0-0172, C4500 Displacement to referenced system

procedure command" was activated.

10.1.39 C4600 Command Calculate motor control parameters

The command "P-0-0566, C4600 Command Calculate motor control

parameters" has been activated.
See also Functional Description of firmware "Automatic Setting of Motor
Control"
10.1.40 C4800 Command Determine cogging torque compensation table

The command for determining the cogging torque compensation table,

"P-0-1138, C4800 Command Determine cogging torque compensation table",
was started.
See also Functional Description of firmware "Cogging Torque Compensation"
10.1.41 C4900 PLC command

The command "P-0-1449, C4900 PLC command" for controlling a PLC

program was started.
10.1.42 C5200 Communication phase 4 transition check

The command "S-0-0128, C5200 Communication phase 4 transition check"

has been activated.

"C52".

10.1.43 C5300 sercos: Command SYNC delay measurement

The command "S-0-1024, C5300 sercos: SYNC delay measuring procedure

10.1.44 C5600 Command Subsequent optimization of commutation offset

The command for subsequent optimization of the commutation offset setting,

"P-0-0518, C5600 Command subsequent optimization of commutation
offset", was activated.
10.1.45 C6100 Command Activate IP settings

The command "C6100 Command Activate IP settings" was started.

The command can be started in different ways:
● Via the control panel
● Using the IndraWorks commissioning software or
● By writing P-0-1534
With MPx-20 and above, the command can also be started via
S-0-1048. Starting with this firmware version, P-0-1534 has the function
of a replacement parameter; it can be used for communication
interfaces that do not support 32-bit ident numbers (EIDN).
At the start of the command, the settings of all existing parameters for IP
communication are first checked in the drive for verisimilar and changed
values.
Interface IP address Network mask Gateway address
Engineering over IP (master S-0-1020 S-0-1021 S-0-1022

communication)
Engineering P-0-1531 P-0-1532 P-0-1533
Interface IP address Network mask Gateway address

Master communication P-0-4089.0.13 P-0-4089.0.14 P-0-4089.0.15
MPx17 and above: P-0-1641 P-0-1642 P-0-1643
sercos master (CCD)
Tab. 10-1: Parameters for IP communication

If changes were made, the IP communication is aborted via the
corresponding interface. The new settings are activated and communication
is started with the new settings.
The IP communication via the interfaces for which the settings

were not changed is not affected by the command and can
continue without restrictions.
Before the command is executed, IP communication with the

interfaces should be terminated by the IP client. Otherwise, error
messages can occur in the corresponding clients due to missing
communication.

10.1.46 C6300 Generate type plate command

Command "P-0-0660, C6300 Generate nameplate command" was started.

This command can be used to generate nameplate data, e.g.:
● Configurable factory default values (P-0-0660.0.1).
● Application data in encoder memory (with encoder memory version 7).
● Motor data for third-party motors (with encoder memory version 7).
● Motor data for motors from Bosch Rexroth (with encoder memory
version 4.x or 7).
10.1.47 C6400 Reboot command

The command for rebooting the drive (S-0-1350, Reboot command) was
activated.
"C64" flashing on the display of the control panel signals that command
S-0-1350 was started.
The command cannot be interrupted. While the command is

executed, the parameters to be saved are stored and the drive is
restarted with a delay of two seconds.

10.1.48 C6500 Archive device data

"C65" flashing on the display of the control panel signals that the command
P-0-0665 was started.
10.1.49 C6600 Restore device data

"P-0-0666, C6600 Command Restore device data" was started.
NOTICE MPx20V04 and below:

Property damage caused by changed
addressing of the sercos nodes!
When the backup device data are restored, the correct distribution of the
sercos addresses is not checked.
To prevent incorrect device data from being loaded to the drives, make sure
that the sercos addresses are not changed in the time between backup and
restoring of the device data.

10.1.50 C6700 Update of device data

"P-0-0667, C6700 Command update of device data" was started.
NOTICE Property damage caused by changed

addressing of the sercos nodes!
When the backup device data are updated, the correct distribution of the
sercos addresses is not checked.
To prevent incorrect device data from being loaded to the drives, make sure
that the sercos addresses are not changed during the time between backup
and update of the device data.

10.1.51 C6800 Control command device data archiving

"C68" flashing on the display of the control panel signals that command
"P-0-0664, C6800 Control command device data archiving" was started.
While the command is executed, the comparative data of the CCD master
and, in case of cross communication (CCD), the comparative data of the
CCD slaves are read. This data is compared with the data stored in the
machine archive to determine the status of the device data archive. The
status is filed in "P-0-0669, Device data archiving, status".
10.1.52 C7000 CCD: Command adjust slave addresses

The command for adjusting the slave addresses was activated [P-0-1801.0.5/
P-0-1635 (C7000 CCD: Command Adjust slave addresses)].
10.1.53 C7100 CCD: Command Close ring

If "P-0-1620.0.3, CCD: Command topology"="4" (double ring), the CCD

master can close the line or 2 lines with command P-0-1620.0.21 (C7100) to
form a double ring.
10.1.54 C7200 CCD: Command Apply I/O configuration

The command for applying the CCD I/O configuration ("P-0-1620.0.31,

C7200 CCD: Command Apply I/O configuration") was started.
10.1.55 C7400 CCD: Switching to phase 2

The command for switching to the CCD phase 2 was started (MPx-17:
P-0-1620.0.5/P-0-2418, MPx-18 and above: P-0-1802.0.1/P-0-2334).
10.1.56 C7500 CCD: Switching to phase 4

The command for switching to the CCD phase 4 was started (MPx-17:
P-0-1620.0.6/P-0-2419, MPx-18 and above: P-0-1802.0.2/P-0-2335).
10.1.57 C7600 Command Create parameter image

Command "P-0-3930, C7600 Command Create parameter image" was

started.
If execution of the command is successful, the values, attributes and units of
all parameters listed in S-0-0017 are saved to an external memory (e.g.,
MMC) (parameter image).
P-0-3931 can be used to determine whether the parameter image is to be
made of a single axis or of all axes.
10.1.58 C8000 SMO: Command Apply scaling

The command "P-0-3220, C8000 SMO: Command Apply scaling" was

started. If the command is executed successfully, the scaling from the
standard parameters is applied in the SMO scaling parameters.
10.1.59 C8100 SMO: Command Activate configuration mode

The command "P-0-3231.0.1, C8100 SMO: Command Activate configuration

mode" was started.
10.1.60 C8200 SMO: Command Exit configuration mode

The command "P-0-3231.0.2, C8200 SMO: Command Exit configuration

mode" was started.
10.1.61 C8300 SMO: Command Activate parameter image

The command "P-0-3231.0.3, C8300 SMO: Command Activate parameter

image" was started.
10.1.62 C8400 SMO: Command Apply encoder configuration

The command "P-0-3254, C8400 SMO: Command Apply encoder

configuration" was started.
10.1.63 C8500 SMO: Command Apply identification data

The command "P-0-3235.0.3, C8500 SMO: Command Apply identification

data" was started.
10.1.64 C8600 SMO: Command Measure position difference

The command "P-0-3210, C8600 SMO: Command Measure position

difference" was started.
10.1.65 C9100 Confirm power section configuration command

For the "IndraDrive ML" range, individual components, one or several

universal inverters (HMU05) and the mains connection component (HNA05),
are combined in an overall system [supply unit(s)].
The firmware polls the components when the control voltage is switched on.
The error "F8835 Inconsistency in power section configuration" is output, if
the number of universal inverters or the mains connection component has
changed since the last switch-on.
You have to carry out the following steps if the error F8835 occurs:
1. Make sure all desired components are available by checking the overall
system.
2. If all desired components are available, the currently recognized
configuration of the overall system has to be confirmed by the command
C9100.
10.1.66 C9900 Service function command

Only the Bosch Rexroth customer service is allowed to use the command
C9900 (P-0-0260). The command is used to execute specific functions for
debugging and setting the devices.
Parameters involved in the command and their functions:
● P-0-0261: Selection of functions
● P-0-0262: Status of functions
● P-0-0263: Control of functions
10.2 Command errors

10.2.1 Clearing command errors
A command error cannot be removed by "clearing errors", but only by
completing the corresponding command.
10.2.2 C0101 Invalid parameters (-> S-0-0021)

While command "S-0-0127, C0100 Communication phase 3 transition check"

is executed, internal variables are initialized and the available parameters are
checked (e.g. for validity). An error was detected during execution of the
command.
Cause Remedy
Data block elements required in communication phase 3 are Write allowed operating data to parameters affected.
missing or invalid (Affected parameters can be taken from list "S-0-0021, IDN-
list of invalid operation data for CP2")
A change was made in "P-0-2003, Selection of functional Check content of "P-0-2003, Selection of functional
packages". Then you failed to reboot before trying to switch packages" and reboot (i.e., switch device off and on again)
to operating mode.
A change of functional packages was made in "P-0-2003, Correct list parameters affected. (Affected parameters can
Selection of functional packages" which has an effect on be taken from list "S-0-0021, IDN-list of invalid operation
customer- and application-specific parameters lists (e.g., data for CP2".)
S-0-0279) Problem can also be remedied by loading basic parameters
("S-0-0262, C07_x Load defaults procedure command" with
appropriate setting in "P-0-4090, Configuration for loading
default values")
Internal data memory defective Contact our service department
For removing command errors see "Command Errors"

10.2.3 C0102 Limit error in parameter (-> S-0-0021)

While the command "S-0-0127, C0100 Communication phase 3 transition

check" is executed, the limit values (minimum/maximum value) are checked
for some parameters. An error was detected during the execution of the
command.
Cause Remedy
Parameter values required in communication phase 3 are Write allowed values to parameters (cf. minimum/maximum
outside their allowed range of values (minimum or maximum value) (these parameters can be taken from list "S-0-0021,
value) IDN list of invalid operating data for communication
phase 2")

10.2.4 C0103 Parameter conversion error (->S-0-0021)


check" is executed, the internal parameter formats are checked in order to
ensure the internal processing. An error was detected during the execution of
the command.
Cause Remedy
Parameter values required in communication phase 3 Write allowed values to parameters (these parameters can
cannot be processed be taken from list "S-0-0021, IDN list of invalid operating
data for communication phase 2")

10.2.5 C0104 Config. IDN for MDT not configurable

During the transition check from communication phase 2 to communication

phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause Remedy
In "S-0-0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S-0-0015,
(configured telegram) was set Telegram type parameter"
In "S-0-0024, Config. list of the master data telegram" there In "S-0-0024, Config. list of the master data telegram" those
were some parameters entered that are not contained in parameters have to be entered that are contained in
"S-0-0188, List of configurable data in the MDT" "S-0-0188, List of configurable data in the MDT"
List parameters are only allowed in the multiplex channel.

10.2.6 C0105 Maximum length for MDT exceeded

During the execution of the command "S-0-0127, C0100 Communication

phase 3 transition check" an error with regard to the telegram configuration of
the master communication was detected.
Cause Remedy
Length of configured data record in MDT that is determined Reduce number of configured parameters in MDT
by "S-0-0024, Config. list of the master data telegram" ("S-0-0024, Config. list of the master data telegram")
exceeds the maximum allowed value entered in "S-0-0186,
Length of the configurable data record in the MDT"


10.2.7 C0106 Config. IDNs for AT not configurable


Cause Remedy
In "S-0-0016, Custom amplifier telegram configuration list" In "S-0-0016, Custom amplifier telegram configuration list"
there were some parameters entered that are not those parameters have to be entered that are contained in
contained in "S-0-0187, List of configurable data in the "S-0-0187, List of configurable data in the AT"
AT"

10.2.8 C0107 Maximum length for AT exceeded


Cause Remedy
Length of configured data record in AT that is determined by Reduce number of configured parameters in AT in
"S-0-0016, Custom amplifier telegram configuration list", "S-0-0016, Custom amplifier telegram configuration list"
exceeds maximum allowed value entered in "S-0-0185,
Length of the configurable data record in the AT"

10.2.9 C0108 Time slot parameter > sercos cycle time


check" is executed, the timing settings for sercos communication are
checked. An error was detected during execution of the command.
Cause Remedy
At least one of the following time slot parameters is not Correct the respective time slot parameter(s).
correct: Contact machine manufacturer or installation programmer
● S-0-1006, sercos: AT0 transmission starting time (t1) MPx17V06 and above: The faulty parameter is shown in
● S-0-1007, sercos: Feedback acquisition starting time S-0-0021
(t4)
● S-0-1017, sercos: NRT transmission time
The definition of the times for the time slot parameters is the
responsibility of the control unit manufacturer and is specified by
sercos.

10.2.10 C0109 Telegram offset unsuitable


phase 3 transition check" an error was detected.
Cause Remedy
At least one parameterized telegram offset fails to meet the Check offsets in the following parameters:
following criteria: ● S-0-1009, sercos: Device Control (C-Dev) offset in
● Telegram offset outside of telegram MDT
● Telegram offset and length outside of telegram ● S-0-1011, sercos: Device Status (S-Dev) offset in AT
● Telegram offset in prohibited range (e.g., hot plug field) ● S-0-1013, sercos: SVC offset in MDT
● Telegram offset and length of several parameter ● S-0-1014, sercos: SVC offset in AT
overlap each other ● S-0-1050.x.3, sercos connection: Telegram
● Telegram offset fails to comply with 16-bit alignment assignment
Note: The definition of the telegram offsets is the
responsibility of the control unit manufacturer.
As of MPx17V06: The faulty parameter is shown in S-0-0021

10.2.11 C0110 Length of MDT (S-0-0010) odd


phase 3 transition check" an error was detected.
Cause Remedy
The parameter "S-0-0010, Length of master data telegram" The parameter "S-0-0010, Length of master data telegram"
contains an odd value. This is not allowed. must be parameterized with even values.
The definition of the parameter S-0-0010 is the responsibility of

the control unit manufacturer and is specified by sercos.

10.2.12 C0111 ID9 + Record length - 1 > length MDT (S-0-0010)

An error was detected in the transition check from communication phase 2 to

communication phase 3 (C0100).
The position of data record in MDT (MDT) (S-0-0009) plus the length of the
data set in MDT for the drive is greater than the entire length of MDT
(S-0-0010).
Cause Remedy
Parameterization of "S-0-0009, Position of data record in Correct parameterization of "S-0-0009, Position of data
MDT" and "S-0-0010, Length of master data telegram" is record in MDT" and "S-0-0010, Length of master data
incorrect telegram"
Parameter definition of "S-0-0009, Position of data record in

MDT" and "S-0-0010, Length of master data telegram" is the
sercos.

10.2.13 C0112 Set timing not permissible

Up to and including MPx-17, the name of this diagnostic message

was "TNcyc (S-0-0001) or TScyc (S-0-0002) error".
In the execution of the command "S-0-0127, C0100 Communication phase 3

transition check" an error with regard to the sercos timing settings was
detected.
MPx-17 and below
Cause Remedy
Parameters "S-0-0001, NC cycle time (TNcyc)" or "S-0-0001, NC cycle time (TNcyc)" or "S-0-0002, sercos
"S-0-0002, sercos cycle time (tScyc)" incorrectly set. cycle time (tScyc)" have to be set correctly.
Settings of 500 µs for ADVANCED control section (or 1 ms
for BASIC control section) or integral multiples of 1 ms are
allowed.
MPx-18 and above
Cause Remedy
The parameterized bus cycle time (S-0-1002 or S-0-0002) is The bus cycle time parameterization in the bus master has
not supported for the slave to be adjusted to the specified rules: see description of
parameter S-0-1002 or S-0-0002.
The number of IDNs configured in the connections is not Reduce the number of IDNs in the connections.
supported with the current slave setting.
The definition of the parameters S-0-0001 und S-0-0002 is the

sercos.
For removing command errors see "Command errors"

10.2.14 C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error


phase 3 transition check" an error or the sercos timing setting was detected.
Cause Remedy
Parameters "S-0-0001, NC cycle time (TNcyc)" and/or The value of "S-0-0001, NC cycle time (TNcyc)" must be
"S-0-0002, sercos cycle time (TScyc)" are set incorrectly equal to or a multiple of "S-0-0002, sercos cycle time
(TScyc)".
Correct parameters "S-0-0001, NC cycle time (TNcyc)"
and/or "S-0-0002, sercos cycle time (TScyc)" accordingly
The definition of the parameters S-0-0001 and S-0-0002 is the

sercos.

10.2.15 C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)


Cause Remedy
The value for "S-0-0007, Feedback acquisition starting time Correct "S-0-0007, Feedback acquisition starting time (T4)".
(T4)" is incorrect The maximum allowable value for "S-0-0007, Feedback
acquisition starting time (T4)" is calculated from "S-0-0002,
sercos cycle time (TScyc)" and "S-0-0005, Minimum
feedback acquisition time (T4min)" as follows:
S-0-0007 > S-0-0002 - S-0-0005


10.2.16 C0115 T2 too small


Cause Remedy
The value set for "S-0-0089, MDT Transmit starting time Correct "S-0-0089, MDT Transmit starting time (T2)"
(T2)" is incorrect. The drive cannot function with this value


10.2.17 C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)


Cause Remedy
The value for "S-0-0008, Command value valid time (T3)" is Check the parameterization of "S-0-0089, MDT Transmit
within the value for "S-0-0089, MDT Transmit starting time starting time (T2)" and "S-0-0008, Command value valid
(T2)". This can cause access problems in the sercos time (T3)" and correct, if necessary.
communication
The definition of the sercos parameters is the responsibility of the

control unit manufacturer and is specified by sercos.

10.2.18 C0118 Order of cyclic command value configuration incorrect

The chronology of the processing of cyclic command value data in the drive
has the order in which the configured IDNs have been entered in a
configuration list:
● EtherCAT: "S-0-0024, Config. list of the master data telegram"
● sercos: "S-0-1050.x.6, sercos connection: Configuration list"
The following parameters are available for using multiplex mode in the cyclic
command value telegram:
● "S-0-0360, Data container A: Command value 1",
● "S-0-0362, Data container A: List index command values" and
● "S-0-0368, Data container A: Addressing"
If more than one of these parameters has been configured in the cyclic
command value telegram, their correct order is checked in the command
"S-0-0127, C0100 Communication phase 3 transition check".
Cause Remedy
Incorrect order of relevant parameters in cyclic command Observe correct order of parameters in cyclic command
value telegram value telegram:
Parameters S-0-0362, S-0-0366 and S-0-0368 must
precede parameters S-0-0360 and S-0-0450 to S-0-0456 in
cyclic command value telegram
See also Functional Description of firmware "Multiplex Channel"

10.2.19 C0132 Invalid settings for controller cycle times


phase 3 transition check" an error in the parameterization of controller cycle
times or PWM switching frequencies was detected.
Cause Remedy
Parameterized performance setting, switching frequency of Check performance setting and select corresponding
output stage and type of PWM cycle of output stage are settings for device and application (P-0-0556).
incompatible.
Check switching frequency and set in accordance with
device and application as well as selected performance level
(P-0-0001).
Only for MPB/MPC, as of MPx-16V04:
Check type of PWM cycle and set in accordance with device
and application as well as selected performance level
(P-0-0045, bit 7 and 11).

● "Motor control", "Motor control frequency"
● "System overview", "Performance specifications"
10.2.20 C0133 Master communication: Address conflict

In the execution of command "C0100", an error was detected in slave

addressing.
Cause Remedy
With EtherCAT: 1. Set "Device Identification Value" the P-0-4089.0.3 /

"SII Configured Station Alias" from slave/device and "Device address switch (value unequal to "0").
Identification Value" from P-0-4089.0.3 [or the address 2. Switch the EtherCAT phase back to "Init" via the
switches in the case of IndraDrive Mi (KSM/KMS)] are both EtherCAT master.
unequal to "0". 3. Switch to "PreOp".
⇒ The "SII Configured Station Alias" is set to "0".
- or -
Set P-0-4089.0.3 / address switch to "0".
For removing command errors, see "Command errors"

10.2.21 C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002)


phase 3 transition check" an error or the timing setting of the sercos interface
was detected. The phase switch into communication phase 3 is prevented.
Cause Remedy
Sum of transmit starting time of master data telegram Parameterize a lower value for transmit starting time of
(S-0-0089, MDT Transmit starting time (T2)) specified by the master data telegram (S-0-0089, MDT Transmit starting time
master and data set length of master data telegram (T2))
(S-0-0010, Length of master data telegram) exceeds sercos
cycle time [S-0-0002, sercos cycle time (Tscyc)]. This
means that master data telegram overlaps master
synchronization telegram (MST)

10.2.22 C0151 IDN for command value data container not allowed

phase 3 transition check" an error with regard to the command value
configuration list was detected. The phase switch to communication phase 3
is prevented.
Cause Remedy
A command value configuration list (S-0-0370 and S-0-0490 Check parameters "S-0-0370, Data container A:
to S-0-0496) contains one or several IDNs that aren't configuration list command value-1" and "S-0-0490, Data
existing or not contained in "S-0-0188, List of configurable container A: configuration list command value 2" to
data in the MDT" "S-0-0496, Data container A: configuration list command
value 8" for incorrect IDNs and correct them

10.2.23 C0152 IDN for actual value data container not allowed

phase 3 transition check" an error with regard to the actual value
configuration list was detected. The phase switch to communication phase 3
is prevented.
Cause Remedy
An actual value configuration list (S-0-0371 and S-0-0500 to Check parameters "S-0-0371, Data container A:
S-0-0506) contains one or several IDNs that aren't existing configuration list feedback value-1" and "S-0-0500, Data
or not contained in "S-0-0187, List of configurable data in the container A: configuration list feedback value 2" to
AT" "S-0-0506, Data container A: configuration list feedback


10.2.24 C0170 Config. IDNs for connection not configurable

Cause Remedy
In configuration of sercos connections (S-0-1050.x.6, sercos Allowed IDNs for consumer connections:
connection: Configuration list) an inadmissible IDN was "S-0-0134, Master control word" and all IDNs from
parameterized. "S-0-0188, List of configurable data in the MDT"
Allowed IDNs for producer connections:

"S-0-0135, Drive status" and all IDNs from "S-0-0187, List of
configurable data in the AT"

10.2.25 C0171 Maximum length for connections exceeded

Cause Remedy
In configuration of sercos connections, allowed connection Reduce number of IDNs in "S-0-1050.x.6, sercos
length was exceeded; i.e. total length of all configured IDNs connection: configuration list".
in "S-0-1050.x.6, sercos connection: Configuration list"
exceeds value in "S-0-1050.x.4, sercos connection: Max.
length of connection".

10.2.26 C0172 Delay measurement (S-0-1024) not carried out

A check run during the execution of the command "S-0-0127, C0100

Communication phase 3 transition check" showed that there is no correctly
executed delay measurement with usable measured values available.
Cause Remedy
Command "S-0-0127, C0100 Communication phase 3 Carry out command "S-0-1024, C5300 sercos: SYNC delay
transition check" was not carried out or was aborted with an measuring procedure command" and then restart command
error. "S-0-0127, C0100 Communication phase 3 transition
check".

10.2.27 C0173 Connections (number) not configurable

Cause Remedy
Parameterized connections in S-0-1050 cannot be realized, Arrange connections of slave better in telegram (put them
because resources of sercos FPGA have been exceeded. one after another). (Can only be corrected by bus master or
configurator.)

10.2.28 C0174 Connection configuration not allowed

Cause Remedy
For a sercos connection, a configuration has been set which "S-0-1050.x.1, sercos connection: Configuration" must be
is not supported by drive controller/firmware checked in all sercos connections and must be compared to
allowed configurations in Parameter Description
As of MPx17V06: "S-0-1050.x.7, sercos connection: check connection
For the sercos connections, a connection capability was capability" in all sercos connections and compare with
assigned too often. maximum allowed assignment "S-0-1060.x.3, sercos
connection type: Max. quantity of this conn. capability"

10.2.29 C0175 Producer cycle time of a connection not correct

Cause Remedy
For a sercos connection, a producer cycle time has been set "S-0-1050.x.10, sercos connection: Producer cycle time"
which is not supported by drive controller/firmware must be checked in all sercos connections and compared
with allowed producer cycle times in the Parameter
Description

10.2.30 C0201 Invalid parameters (->S-0-0423)

While the command "S-0-0422, C0200 Exit parameterization level procedure

command" is executed, internal variables are initialized and the available
parameters are checked (e.g. for validity). An error was detected during the
execution of the command.
Cause Remedy
Data block elements required in operating mode are missing Write allowed operating data to respective parameters.
or invalid (Respective parameters can be taken from list "S-0-0423,
IDN-list of invalid op. data for parameterization level")

10.2.31 C0202 Parameter limit error (->S-0-0423)


command" is executed, the limit values (minimum/maximum value) are
checked for some parameters. An error was detected during the execution of
the command.
Cause Remedy
Parameter values required in operating mode are outside of Write allowed values to parameters (cf. min./max. value).
their allowed range of values (minimum or maximum value) (Respective parameters can be taken from list "S-0-0423,
IDN-list of invalid op. data for parameterization level")

10.2.32 C0203 Parameter conversion error (->S-0-0423)


command" is executed, the internal parameter formats are checked in order
to ensure the internal processing. An error was detected during the execution
of the command.
Cause Remedy
Parameter values required in operating mode cannot be Write allowed values to parameters. (Respective parameters
processed can be taken from list "S-0-0423, IDN-list of invalid op. data
for parameterization level")

10.2.33 C0204 Inadmissible motor-amplifier combination

During the execution of the command "S-0-0422, C0200 Exit

parameterization level procedure command" an error was detected.
Cause Remedy
Drive recognized that a motor which is not supported was Use supported motor type
connected.
See also documentation "Firmware Release Notes", chapter "Supported

Motors"
10.2.34 C0205 Invalid power parameters (-> logbook)

During the execution of the "S-0-0422, C0200 Exit parameterization level

procedure command", parameters were read out of the power section. An
error was detected during execution of the command. Corresponding entries
are saved in the logbook.
Cause Remedy
Error when reading out power section parameters. Replace device

Power section data is not up-to-date. - or -
Update power section data.
NOTE: The power section data can only be updated by
Bosch Rexroth customer service.

10.2.35 C0206 Error when accessing machine archive

For the "Backup & Restore" function, the "strict mode" has been configured
[see P-0-0668 (configuration of the device data archiving)]. When this mode
is used, a check is run every time the drive is switched to the operating
mode; this is done to find out whether the current data comply with the
current machine archive on all devices; command C6600 is started for this
purpose.
During the execution of the command C6600 an error has occurred during
the access to the machine archive on the external memory card.
The restored backup device data are incomplete or faulty!
For the error that has occurred, see the "Backup.log" or

"Restore.log" text file; the text file can be found in the "Backup"
directory on the external memory card.
Cause Remedy
External memory card has not (or not completely) been Plug external memory card in control panel and execute
plugged in slot provided for this purpose command C6600 again
It was impossible to unpack files contained in machine Use external memory card with higher storage capacity or
archive. delete unrequired files from external memory card, then
Not enough available memory space on external memory execute command C6600 again
card.
Machine archive is faulty. Check file "Backup\Archive\Backup.zip"
Error occurs with manually created or modified machine
archive, or in the case of incorrect transmission of machine
archive to external memory card.
Machine archive does not exist or has been incorrectly Check whether file "Backup\Archive\Backup.zip" generated
named by command C6500 is available
External memory card is defective Check external memory card and execute command C6600
again.
If diagnostic message is displayed repeatedly: Replace
external memory card and create machine archive again
(execute command C6500).
Slot for external memory card in control panel is defective Check slot and replace control panel, if necessary
NOTICE Property damage caused by data loss!
Before replacing or formatting the external memory card, save the data
stored on it to avoid data loss.

10.2.36 C0207 Machine archive is not up-to-date

An error occurred during the execution of the command C6700.

Cause Remedy
Machine archive available on external memory card is not 1. Execute command C6500.
up-to-date. 2. Execute command C6700.
Note: The update of the device data was not started.
Additional information: To update the backup device data,
an up-to-date machine archive must be available on the
external memory card. This is required to allow you to undo
an update via the command C6600.
When exiting parameterization level, machine archive was Restore the backup device data:
checked; machine archive available on external memory 1. Execute command C6600.
card is not up-to-date.
2. Execute transition command C0200.
Additional information: P-0-0668 can be parameterized in
such a way that, when exiting the parameterization level, the - or -
device data are compared to the data saved in the machine
archive; if the data do not match, this command error is Update the machine archive:
triggered. 1. Execute command C6500.

10.2.37 C0208 Combination of actuator syst./encoder scaling not supported

Cause Remedy
The configuration selected by the weighting or mechanical Correct mechanical or weighting settings
components is not permissible/not useful and is not
supported by the drive.

10.2.38 C0209 Incorrect encoder configuration

When the drive was switched from the parameter to the operating mode, an
incorrect position encoder configuration was recognized.
The parameters configured incorrectly are listed in S-0-0423.
Cause Remedy
The current position encoder is incorrectly configured. Set a valid configuration in the drive.
The configured position encoder does not work properly. Check connection cable to the encoder or replace encoder.

10.2.39 C0210 Feedback 2 required (->S-0-0423)

Incorrect parameter setting was detected during the execution of command

"S-0-0422, C0200 Exit parameterization level procedure command".
"S-0-0423, IDN-list of invalid op. data for parameterization level"

contains the data which were detected to be invalid during the
execution of command "S-0-0422, C0200 Exit parameterization
level procedure command".
Cause Remedy
Bit for measuring wheel mode has been set in "P-0-0185, Parameterize encoder 2 in "P-0-0075, Encoder type 2
Control word of encoder 2 (optional encoder)". Measuring (optional encoder)"
wheel mode requires second encoder which has not been - or -
parameterized
Deselect function "measuring wheel mode" in "P-0-0185,
Control word of encoder 2 (optional encoder)"
Bit for redundant motor encoder has been set in "P-0-0185, Parameterize encoder 2 in "P-0-0075, Encoder type 2
Control word of encoder 2 (optional encoder)". Second (optional encoder)"
encoder, however, has not been parameterized - or -
Deselect redundant motor encoder in "P-0-0185, Control
word of encoder 2 (optional encoder)"

10.2.40 C0211 Invalid encoder configuration (3 active encoders)


parameterization level procedure command" an error in the encoder
configuration was detected.
Cause Remedy
More than 3 encoders were configured; only two encoders Reduce number of configured encoders to a maximum of
are allowed for MPB and MPM . two encoders. For this purpose, deactivate the affected
encoders.

10.2.41 C0212 Invalid control section data (->S-0-0423)


parameterization level procedure command" an error was detected during the
initialization of the amplifier data. The concerned parameters are entered in
the list "S-0-0423, IDN-list of invalid data for parameterization levels".
Cause Remedy
Reading error due to hardware defect If possible, replace hardware; otherwise contact our service
department

10.2.42 C0213 SMO: Incorrect parameterization


parameterization level procedure command" an error was detected while
checking the safety technology parameters.
Cause Remedy
Parameters not verified Verify parameters (see tip)

Parameters outside of allowed value range 1. Check and correct value
2. Verify parameters (see tip)
A list of the unverified parameters (P-0-3233) can be called in

IndraWorks:
"Project Explorer" → SMO branch context menu → Non-verified
parameters.

10.2.43 C0214 SMO: Incorrect configuration


An incorrect configuration may have triggered the error, which is

described in a detailed diagnostics. To find out, call up the "Error/
Diagnostic Memory" dialogue in IndraWorks as follows:
1. In the function tree, select the drive for which an error was
diagnosed.
2. Open the context menu of the axis: Diagnostics ▶ Error/
Diagnostic Memory.
⇒ The "Error/Diagnostic Memory" dialog is opened.
Cause Remedy

If the auxiliary safety technology function "Safe homing Check the following parameterizations:
procedure" has been activated (P-0-3253.0.1): ● S-0-0076, Position data scaling type ↔ P-0-3222.0.1,
The standard firmware and "Safe Motion" do not have the SMO: Position data scaling type
same position scaling, mechanics, polarity and encoder ● S-0-0078, Linear position data scaling exponent ↔
setting P-0-3222.0.2, SMO: Linear position data scaling
exponent
● S-0-0079, Rotational position resolution ↔
P-0-3222.0.3, SMO: Rotational position resolution
● S-0-0055,Position polarities ↔ P-0-3221.0.1, SMO:
Polarity
The rotation position resolution is not correct value 360 × 10Exp (Exp="0 - 7")

- or - (P-0-3335.0.3)

(P-0-3336.0.3)
and/or
mapper block type has been exceeded individually possible maximum number of instances.
Cause Remedy
IO mapper inputs: Make sure a target IDN (P-0-3330.x.4) / a target bit
A target signal (target IDN / target bit) is used more than (P-0-3330.x.5) is only used once
once
The target IDN is not allowed individually possible target IDNs.
The target bits are not allowed individually possible target bits.

C0214 - Detailed diagnostics 003A06F7

00530425
00530426
00530427
00530428
0053046B
00530486
005304AF
005306ED
005306EE
005306F9
005306FA
005306FB
005306FC
005306FD
005306FE
0053071A
00530742
00540425
00540426
00540427
00540428
0054046B
00540486
005404AF
005406ED
005406EE
005406F9
005406FA
005406FB
005406FC
005406FD
005406FE
0054071A
00540742

10.2.44 C0215 SMO: Error in encoder initialization


parameterization level procedure command" the following checks were made
during the initialization of the SMO encoder:
● Encoder signal test
● Test of the optional safety technology module
Cause Remedy

Encoder defective Replace encoder
Hardware defective Replace device
C0215 - Detailed diagnostics 003A0517

00530C11
00530C12
00540C11
00540C12

10.2.45 C0216 SMO: SCM-OM switching not allowed


Cause Remedy
"Safe Motion state machine" is in SMO configuration mode Execute command C8200 to terminate SMO configuration
(SCM) (see also P-0-3231) mode
C0216 - Detailed diagnostics 00530032

00540032

10.2.46 C0219 Max. travel range too large

While the command "C0200" is executed an error with regard to the scaling
of the drive was detected.
Cause Remedy
"S-0-0278, Maximum travel range" incorrectly Check and, if necessary, reduce parameterization of
parameterized. Defined travel range is too large S-0-0278. Value of "S-0-0278, Maximum travel range" is to
be selected in such a way that resulting internal position
resolution guarantees correct commutation of motor.
Inappropriate measuring system (resolution) for maximum Check resolution of measuring system and, if necessary,
travel range to be displayed use a different measuring system

See also Functional Description of firmware "Scaling"
10.2.47 C0220 Error when initializing position of encoder 1

While the command "C0200" is executed, the following checks are carried
out for initializing encoder 1 (motor encoder):
● Communication with encoder
● Generation of position (absolute position and incremental track)
● Error in absolute position
If one of the above checks fails, the command error "C0220" is generated.
Cause Remedy
Motor encoder cable defective Check and, if necessary, replace motor encoder cable
Motor encoder defective or error in micro controller of Replace motor
measuring system
Measuring system interface defective Have measuring system interface replaced by service
department
For encoders with absolute and incremental track, absolute Absolute position was shifted deliberately: Parameterize
position was shifted in relation to incremental track "position initialization without incremental track" (see
S-0-0277)
Absolute position was shifted by a defect: Check other
causes mentioned

10.2.48 C0221 Initialization velocity encoder 1 too high

During the execution of the command "C0200" an error in the initialization

velocity of encoder 1 (motor encoder) was detected.
Cause Remedy
Velocity for initialization of encoder 1 was too high Reduce velocity during encoder initialization [comply with
initialization velocity (encoder-related); rotary: <30 rpm (for
EnDat with encoder resolution > 2048DP: <5 rpm), linear:
<30 mm/min (MPx16) or <1000 mm/min (as of MPx17)]
DP Division periods
10.2.49 C0222 Error during motor encoder initialization

Allocation Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
out for initializing the motor encoder:
Cause Remedy
Motor encoder cable defective Check and, if necessary, replace motor encoder cable
Motor encoder defective or error in micro controller of Replace motor
measuring system
department
S-0-0277)
Absolute position was shifted by a defect: check the other
indicated causes

10.2.50 C0223 Invalid settings for controller cycle times

During the execution of the command "C0200" an error in the

parameterization of controller cycle times or PWM switching frequencies was
detected.
For cause and remedy see "C0132 Invalid settings for controller cycle times".
10.2.51 C0224 Error when initializing position of encoder 2

out for initializing encoder 2 (optional encoder):
Cause Remedy

Encoder defective or error in micro controller of measuring Replace encoder
system
department
S-0-0115)
causes mentioned

10.2.52 C0225 Initialization velocity encoder 2 too high


velocity of encoder 2 (optional encoder) was detected.
Cause Remedy
Velocity for initialization of encoder 2 was too high Reduce velocity during encoder initialization [comply with
DP Division periods
10.2.53 C0227 Error when initializing position of measuring encoder

out for initializing the measuring encoder:
Cause Remedy

Interference caused by incorrect shielding Check and, if necessary, correct cable shielding
Encoder defective or error in micro controller of measuring Replace encoder
system
department
P-0-0328)
causes mentioned

10.2.54 C0228 Initialization velocity measuring encoder too high


velocity of the measuring encoder was detected.
Cause Remedy
Velocity for initialization of measuring encoder was too high Reduce velocity during encoder initialization [comply with
DP Division periods
10.2.55 C0229 Field bus: IDN for cycl. command val. not configurable
During the execution of the command "C0200" an error with regard to the
telegram configuration of master communication was detected.
Cause Remedy
In operating data of "P-0-4081, Field bus: config. list of cyclic In "P-0-4081, Field bus: config. list of cyclic command value
command value data ch." there is an IDN that is not data ch." enter allowed IDN (cf. "S-0-0188, List of
contained in "S-0-0188, List of configurable data in the MDT" configurable data in the MDT")

10.2.56 C0230 Field bus: Max. length for cycl. command val. exceeded
axis-specific telegram configuration of a local axis of master communication
was detected.
Cause Remedy
Sum of data widths of all IDNs entered in "P-0-4081, Field Reduce number of IDNs entered in "P-0-4081, Field bus:
bus: Config. list of cyclic command value data ch." Config. list of cyclic command value data ch."
exceeds maximum value

10.2.57 C0231 Field bus: IDN for cycl. actual val. not configurable
Cause Remedy
In operating data of "P-0-4080, Field bus: config. list of cyclic In "P-0-4080, Field bus: config. list of cyclic command value
command value data ch." there is an IDN that is not data ch." enter allowed IDNs (cf. "S-0-0187, List of
contained in "S-0-0187, List of configurable data in the AT" configurable data in the AT")


10.2.58 C0232 Field bus: Length for cycl. actual values exceeded
During the execution of the command "C0200 Exit parameterization level

procedure command" an error with regard to the axis-specific telegram
configuration of a local axis of master communication was detected.
Cause Remedy
Sum of data widths of all IDNs entered in "P-0-4080, Field Reduce number of IDNs entered in "P-0-4080, Field bus:
bus: Config. list of cyclic command actual data ch." exceeds Config. list of cyclic actual value data ch."
maximum value

10.2.59 C0233 Field bus: Tcyc (P-0-4076) incorrect

Cause Remedy
While command C0200 was executed, error in Observe allowed input values (minimum/maximum values)
parameterization of P-0-4076 was detected. of "P-0-4076, Field bus: Process data - updating clock"; step
size of allowed input values: 1 ms

10.2.60 C0234 Field bus: P-0-4077 missing for cycl. command values
Cause Remedy
Operating data of "P-0-4081, Field bus: config. list of cyclic According to profile type configure one of both control words
command value data ch." contains neither "P-0-4077, Field in "P-0-4081, Field bus: config. list of cyclic command value
bus: control word" nor "P-0-4068, Field bus: control word data ch."
IO". At least one control word has to be contained

10.2.61 C0238 Order of cyclic command value configuration incorrect

The chronology of the processing of cyclic command value data in the drive
has the order in which the configured IDNs have been entered in the
parameter for cyclic command value configuration. The following parameters
are available for using the multiplex mode in the cyclic command value
telegram:
● S-0-0360, Data container A: command value 1,
● S-0-0362, Data container A: list index command values and
● S-0-0368, Data container A: Addressing
If more than one of these parameters has been configured in the cyclic
command value telegram, their correct order is checked in the command
"S-0-0422, C0200 Exit parameterization level procedure command".
Cause Remedy
Incorrect order of relevant parameters in cyclic command Observe correct order of parameters in cyclic command
value telegram value telegram:
Parameters S-0-0362, S-0-0366 and S-0-0368 in cyclic
command value telegram have to be located before
parameters S-0-0360 and S-0-0450 to S-0-0456

10.2.62 C0239 IDN for command value data container not allowed
During the execution of command "S-0-0128, C0200 Communication phase 4

transition check" (02VRS / 03VRS) or "S-0-0422, C0200 Exit
parameterization level procedure command" (as of 04VRS), an error with
regard to the command value configuration list was detected.
Cause Remedy
A command value configuration list (S-0-0370 and S-0-0490 Check parameters "S-0-0370, Data container A:
to S-0-0496) contains one or several IDNs that aren't configuration list command value-1" and "S-0-0490, Data
existing or not contained in "S-0-0188, List of configurable container A: configuration list command value 2" to
data in the MDT" "S-0-0496, Data container A: configuration list command

10.2.63 C0240 IDN for actual value data container not allowed
During the execution of command "S-0-0128, C0200 Communication phase 4

transition check"" (02VRS / 03VRS) or "S-0-0422, C0200 Exit
parameterization level procedure command" (as of 04VRS), an error with
regard to the actual value configuration list was detected.
Cause Remedy
An actual value configuration list (S-0-0371 and S-0-0500 to Check parameters "S-0-0371, Data container A:
S-0-0506) contains one or several IDNs that aren't existing configuration list feedback value-1" and "S-0-0500, Data
or not contained in "S-0-0187, List of configurable data in the container A: configuration list feedback value 2" to
AT" "S-0-0506, Data container A: configuration list feedback

10.2.64 C0241 Incorrect parameterization of motion task

A motion task is of the type "triggered by external event".

Two of these motion tasks are available:
● Motion task in synchronism with master communication, runs
synchronously to master communication (via the system event
FKM_SYNCHRONIZED_TASK)
● Motion task in synchronism with CCD, runs synchronously to the CCD
group (via the system event CCD_SYNCHRONIZED_TASK)
When switching from the parameter mode to the operating mode takes place
and a boot project with a motion task synchronous to master communication
or CCD group has been loaded, checks are run to find out whether the
motion task can be operated with the settings that have been made; an error
was detected during the checks. (See also Application Manual "Rexroth
IndraMotion MLD", chapter "Basic Functions of Rexroth IndraMotion MLD",
"Task System".)
Cause Remedy
Motion task in synchronism with master communication: Motion task cycle time corresponds to NC cycle time
Motion task cycle time resulting from configuration is not (TNcyc) (S-0-0001): Minimum allowed cycle time is 1000 µs.
allowed. Other values are allowed in steps of 1000 µs.
Exception: With "sercos III" master communication, the

motion task cycle time corresponds to the "producer cycle
time" (S-0-1050.x.10) of the connection configured by the
master in the MDT.
Motion task in synchronism with CCD: With sercos III master communication, the CCD cycle time
Motion task cycle time resulting from configuration is not and the motion task cycle time correspond to the "producer
allowed. cycle time" (S-0-1050.x.10) of the connection configured by
the master in the MDT telegram, if this time is less than the
value of "P-0-1610, CCD: Cycle time". With all other master
communications, the motion task cycle time, as well as the
CCD cycle time, correspond to the NC cycle time [S-0-0001,
NC cycle time (TNcyc)], provided the NC cycle time is
shorter than the value of "P-0-1610, CCD: Cycle time". If
not, they correspond to the value of "P-0-1610, CCD: Cycle
time". The active CCD cycle time can be taken from
parameter "P-0-1602, CCD: Timing settings".
Take the following aspects into account when setting the
CCD cycle time in conjunction with the motion task in
synchronism with CCD:
● Advanced performance is not allowed in the MLD-M
system mode.
● Basic performance: Minimum allowed CCD cycle time
is 1 ms. All integral multiples of the minimum allowed
CCD cycle time are allowed, too, for the motion task in
synchronism with CCD.
Motion task in synchronism with CCD: Activate MLD-M system mode
With activated cross communication (CCD) in the CCD - or -
master axis, an MLD project with a motion task in Modify your PLC project for MLD in such a way that no
synchronism with CCD is only allowed when MLD-M system motion task in synchronism with CCD has been configured
mode has been configured.

10.2.65 C0242 Multiple configuration of a parameter (->S-0-0423)


Cause Remedy
For a multi-axis device, a device-specific function has been Read IDNs entered in "S-0-0423, IDN-list of invalid op. data
activated in more than one axis (e.g. position switch for parameterization level" to find out function activated in
activated in two axes or encoder emulation activated in two both axes. Then deactivate function in one of both axes
axes)
For cyclic parameter write, a parameter was simultaneously Read IDNs entered in "S-0-0423, IDN-list of invalid op. data
configured in different interfaces. It is impossible, however, for parameterization level" to detect and remove multiple
to simultaneously write data to same parameter from configuration.
different interfaces.
Note: "Interfaces" means as well analog and digital inputs as
complete bus systems.
Each multiple configuration/each conflict is listed in parameter

and displayed in the following form:
● The 1st entry contains the IDN of the parameter that was
configured in a multiple way.
● The subsequent entries contain the IDNs of the parameters
in which the multiple-configuration parameter was configured
for cyclic parameter write.
● In the IDN list, each conflict is concluded by the IDN
S-0-0000. If several conflicts occur at the same time, they
are displayed one after the other in "S-0-0423, IDN-list of
invalid op. data for parameterization level", being separated
by the IDN S-0-0000.
For each conflict, the configurations of the involved interfaces have to be

modified in such a way that only one interface writes data to a parameter.
10.2.66 C0243 Brake check function not possible

Automatic brake control has been selected/activated in parameter "P-0-0525,

Holding brake control word". An error occurred during initialization of the
function.
Cause Remedy
Holding brake is not controlled Activate holding brake control in parameter "P-0-0525,
Holding brake control word"
"P-0-0540, Torque of motor holding brake" is too low Parameterize "P-0-0540, Torque of motor holding brake"
correctly by means of data sheet of brake or motor.


10.2.67 C0244 Act. modulo value cycle greater than max. travel range
During the execution of the command "C0200" an error was detected.
Cause Remedy
Calculated modulo value for actual value cycle is greater Check parameterization of "S-0-0278, Maximum travel
than value parameterized in "S-0-0278, Maximum travel range" and if necessary adjust it to modulo value for actual
range" value cycle
- or -
Check parameterization of modulo value for actual value
cycle and adjust it to "S-0-0278, Maximum travel range"

10.2.68 C0245 Operation mode configuration (->S-0-0423) not allowed

During execution of command "S-0-0422, C0200 Exit parameterization level

procedure command" an impermissible operation mode configuration was
detected.
Operation mode parameters:
The pertinent operation parameter is listed in "S-0-0423, IDN list

of invalid data for parameterization levels"; if several operation
modes are impermissible, only the first operation mode found is
entered.
Cause Remedy
An operation mode with control on the basis of encoder 2 Select control on the basis of encoder 1 (motor encoder) or
has been configured; however, encoder 2 is not existent or connect encoder 2 and assign interface ("P-0-0078,
the interface has not been assigned. Assignment optional encoder->optional slot").
The operation mode configured is not permissible in Increase cycle time of master communication:
conjunction with the selected cycle time of master ● Basic firmware: Synchronization modes ≥ 1 ms only
communication.
● Economy firmware: Interpolation modes ≥ 2 ms only
See also functional description of firmware "Measuring systems"

10.2.69 C0250 Probe inputs incorrectly configured

During the execution of command "C0200" an error was detected.
Cause Remedy
At least one of both probes was activated in "S-0-0169, Assign probe or probes (S-0-0401 / S-0-0402) to digital
Probe control parameter", but not assigned to any digital inputs via "P-0-0300, Digital I/Os, assignment list" and
input "P-0-0306, Digital inputs, assignment connector and pin".
For the allowed digital inputs provided for this purpose, see
Project Planning Manual "Drive Controllers, Control
Sections".
One or both probes (S-0-0401 / S-0-0402) have been For the probe function, those digital inputs have to be used
assigned to the incorrect digital inputs which are explicitly designated as "inputs suitable for
probes" in the respective projecting description, since they
feature a specific hardware. In control sections of type
"CSB02", these are e.g. other inputs than in control sections
of type "CDB02".
Probes were accidentally activated Deactivate probes in "S-0-0169, Probe control parameter"

● "Digital inputs/outputs"
● "Probe function"
10.2.70 C0251 Error during synchronization to master communication

When command C0200 is executed a check is made to see if the drive

control is synchronized with the bus interface via two phase control loops
(sercos, PROFIBUS, …). Synchronization must be completed by the end of
the command. If this is not the case, this error message is generated.
Cause Remedy


See also Functional Description of firmware "Master Communication"
10.2.71 C0252 Incorrect MLD initialization (write access->S-0-0423)

Due to an incorrect write access of the firmware (e.g. S-0-0269), switching

from the parameter mode to the operating mode was prevented.
Parameter S-0-0423 displays the parameter for which write

access has failed.
Cause Remedy
Internal error or control section defective Please contact our service department

10.2.72 C0253 Error in combination operation mode - encoder (->S-0-0423)

During the check of operating mode and encoder an error occurred.

contains the faulty parameter.
Cause Remedy
Operating modes were parameterized which obligatorily Correct settings for primary mode of operation and
require an optional encoder or operating modes were secondary oper. modes (S-0-0032 to S-0-0035 and
parameterized for which a certain encoder mustn't be set S-0-0284 to S-0-0287)
- or -
"P-0-0077, Assignment motor encoder->optional slot" and
"P-0-0078, Assignment optional encoder ->optional slot"
- and -
check motor control which was set (U/f, FXC, FOC) (see
Functional Description of firmware "Motor Control")

10.2.73 C0256 Safety technology configuration error

During the execution of the command "C0200", an error was detected during
checks of the safety technology configuration.
Cause Remedy
An electrically clamping brake was configured for the use of Correct P-0-0525
the safety technology option "L4" (see "P-0-0525, Holding - or -
brake control word").
use allowed brake.
The safety function "SBC" is used for a safety technology Correct P-0-0525:
option "Sx" (Safe Motion) and an electrically clamping main Only self-holding (electrically releasing) servo brakes are
drive brake was configured (see "P-0-0525, Holding brake allowed when the safety function "SBC" is used.
control word").

10.2.74 C0258 Error in relation TNcyc (S-0-0001) to fine interpol.

During the execution of the command "C0200", a check is run, when the
cubic fine interpolator or the interpolator according to contour ("P-0-0187,
Position command processing mode" = "1" or "2") is used, to find out whether
the selected NC cycle time is supported by the respective fine interpolator.
Cause Remedy
"S-0-0001, NC cycle time (TNcyc)" incorrectly parameterized Select appropriate "S-0-0001, NC cycle time (TNcyc)".
Allowed NC cycle times, when using cubic fine interpolator
or fine interpolator according to contour, depend on relation
of NC cycle time (S-0-0001) and position loop clock
(P-0-0556, Control word of axis controller).
Allowed clock relations:
● From 1 to 8 in steps of one
● From 10 to 16 in steps of two
● From 20 to 32 in steps of four
Example [allowed NC cycle times with Advanced
performance (position loop clock=250 µs)]:
● 250 µs to 2000 µs
● 2500 µs to 4000 µs
● 5000 µs to 8000 µs
Cubic fine interpolation or fine interpolation according to Use linear fine interpolator ("P-0-0187, Position command
contour cannot be used with present NC cycle time processing mode" = "0")
("S-0-0001, NC cycle time (TNcyc)")

10.2.75 C0259 MLD configuration error (->S-0-0423)

The execution of the command "C0200" (switching from parameter mode to

operating mode) was impeded due to an incorrect MLD configuration.
The incorrectly configured parameters are listed in S-0-0423.
Cause Remedy
In "P-0-1367, PLC configuration", permanent control was (Local) axis can be controlled either via field bus
set, but in "P-0-4084, Field bus: Profile type" the "operating (P-0-4084=FFFE) or via MLD (P-0-1367, bit 4=1); it is
mode neutral" profile was not set (P-0-4084=FFFD) impossible to have both settings at the same time
A parameter required for MLD-M could not be written Check whether the parameter is contained in S-0-0279, IDN-
list of password-protected operation data; if yes, remove the
parameter from the list of S-0-0279.
If the parameter is not contained in S-0-0279 and cannot be
written nevertheless, please contact our service department.


00370029
0037002A
0037002B
0037002C
0037002D
00370032
00370033
00370034
00370035
00370036
00370037
0037003C
0037003D
0037003E
0037003F
00370040
00370041

10.2.76 C0260 Incremental enc. emulator resol. cannot be displayed

In the case of incremental encoder emulation, inadmissible overflow can

occur for increment output. In order to avoid this overflow, "P-0-0901.x.3,
Encoder emulation resolution" has to be parameterized accordingly.
In the case of modulo processing, the overflow takes place at the modulo
value entered in "S-0-0103, Modulo value":
S-0-0103, Modulo value

P-0-0901.x.3, Encoder emulation resolution
S-0-0079, Rotational position resolution
Fig. 10-1: Overflow in the Case of Modulo Processing
Otherwise, the overflow takes place at the value entered in "S-0-0278,
Maximum travel range":
S-0-0278, Maximum travel range

P-0-0901.x.3, Encoder emulation resolution
S-0-0079, Rotational position resolution
Fig. 10-2: Overflow at Maximum Travel Range
Cause Remedy
Resolution of emulated signal does not match modulo Reduce resolution entered in "P-0-0901.x.3, Encoder
range / travel range emulation resolution"
- or -
Reduce "S-0-0278, Maximum travel range"


10.2.77 C0263 Serial number of motor has changed


Cause Remedy
The drive controller has detected that the serial number of There are two options to eliminate the error:
the connected "MSM" type motor has changed, meaning ● 1. option (with this procedure, the diagnostic motor
that the motor was replaced. data currently stored in the drive controller are set to
Note: The diagnostic motor data currently stored in the drive the value "0" the next time the drive is switched from
controller are unchanged for the time being (see "Remedy")! PM to OM)
Delete the value in P-0-2055. The next time the drive
is switched from PM to OM, the serial number of the
replacement motor is applied to P-0-2055.
- or -
● 2. option [with this procedure, the diagnostic motor
data currently stored in the drive controller (such as
the operating hours) are not changed the next time the
drive is switched from PM to OM, but are retained as
the initial values of the replacement motor]
Enter the serial number of the replacement motor
(S-0-1300.20.12) in P-0-2055.

10.2.78 C0265 Incorrect CCD address configuration


parameterization level procedure command" an error was detected with
regard to drive cross communication [CCD (Cross Communication Drives)].
Cause Remedy
The address of a sercos slave not contained in Check P-0-1801.0.10/P-0-1601 (CCD: Addresses of
P-0-1801.0.2/P-0-1636 (CCD: Command typology configured drives) or P-0-1801.0.11/P-0-1604 (CCD:
addresses) is contained in P-0-1801.0.10/P-0-1601 (CCD: Addresses of configured I/Os) and check addresses of
Addresses of configured drives) or P-0-1801.0.11/P-0-1604 connected slaves; if necessary, change address at slave or
(CCD: Addresses of configured I/Os) of the CCD master. carry out remote address assignment.
- or - Note: If the address of a slave is changed, a new sercos
The same address was entered in P-0-1801.0.10/P-0-1601 phase progression must be carried out via phase 0. The
(CCD: Addresses of configured drives) and in connected slaves are scanned in phase 0.
P-0-1801.0.11/P-0-1604 (CCD: Addresses of configured
I/Os).


10.2.79 C0266 Incorrect CCD phase switch


parameterization level procedure command" an error was detected with
regard to drive cross communication[CCD (Cross Communication Drives)].
Cause Remedy
After command "C0200 Exit parameterization level Check in P-0-1801.0.10/P-0-1630 (CCD: Diagnosis) and
procedure command" is started, CCD master attempts to correct faulty parameter, if any.
bring sercos slaves to phase 4 by starting commands C01 - or -
and C52 in CCD slaves; thus, all required slave parameters
are written. Check configuration of CCD process data:
Command error occurred in CCD slave during one of these ● P-0-1803.x.11/P-0-1621 (CCD: Configuration list
actions. master communication cmd values)
● P-0-1803.x.12/P-0-1622 (CCD: Configuration list
master communication actual values)
● P-0-1805.x.1/P-0-1623 (CCD: Configuration list master
cmd values)
● P-0-1805.x.2/P-0-1624 (CCD: Configuration list actual
master values)
● P-0-1805.x.3/P-0-1625 (CCD: Configuration list slave
cmd values)
● P-0-1805.x.4/P-0-1626 (CCD: Configuration list actual
slave values)
- or -
Eliminate cause of command error in CCD slave.

10.2.80 C0267 CCD timeout phase switch


command" was executed without error in the sercos master. The master did
not generate any error during phase switch (C0266).
The maximum delay time of 60 seconds for switching the sercos slaves to
phase 4 has elapsed, but one or more slaves are not in phase 4 yet.
Cause Remedy
One or more sercos slaves from P-0-1801.0.10/P-0-1601 Locate faulty sercos slave(s) and remove cause of error for
(CCD: Addresses of configured drives) or P-0-1801.0.11/ this (these) slave(s)
P-0-1604 (CCD: Addresses of configured I/Os) do not react
to service channel communication
Transition command "S-0-0127, C0100 Communication Locate faulty sercos slave(s) and remove cause of error for
phase 3 transition check" or "S-0-0128, C5200 this (these) slave(s)
Communication phase 4 transition check" is not completed
or only completed with error in one or more sercos slaves

10.2.81 C0270 Error when reading encoder data => encoder 1


was "C0270 Error when reading encoder data => motor encoder".
Up to Firmware version 19 The encoder data ("P-0-1000, encoder type 1, encoder memory"; "P-0-1001,
encoder 1 resolution, encoder memory"; "P-0-1002, absolute encoder
offset 1, encoder memory") could not be read correctly from the encoder
memory when initializing the control section.
Cause Remedy
Parameterization "P-0-0074, Encoder type 1 (motor Check content of "P-0-0074, Encoder type 1 (motor
encoder)" incorrect. encoder)" and ensure that the encoder type inserted on the
encoder interface has been parameterized.
Interference caused by incorrect shielding or defective Check encoder cable (incl. shielding) and replace or
encoder cable. correctly lay it, if necessary.
Encoder defective. Check and, if necessary, replace encoder function.
Encoder interface defective on control section. Replace control section or entire drive controller.
Firmware version 20 and above During initialization, the extended encoder evaluation detected that the basic
encoder evaluation for encoder 1 is not active or that the wrong encoder
interface has been entered in "P-0-0077, Assignment encoder 1->interface".
Cause Remedy
Parameterization "P-0-0077, Assignment encoder 1- Check content of "P-0-0077, Assignment encoder 1-

>interface" incorrect interface" and correct it so that the correct assignment of the
encoder to the interface is provided
Parameterization "S-0-0602.1.1, Phys. encoder type" Check content of "P-0-0602.1.1, Phys. encoder type" and
incorrect correct it so that the correct assignment of the encoder to
the interface is provided
Cause Remedy
Error during initialization "Sercos encoder: no cyclic Ensure that the cyclic connection for the Sercos encoder is
connection found". configured as encoder. "S-0-0610.1.1, Encoder status
(input)" and "S-0-0610.1.2, Position unweighted (input)"
have to be configured.
(see also "S-0-0610.1.1, Encoder status (input)" and
"S-0-0600.1.1, Encoder status")
Measuring encoder option defective on control section. Replace control section or entire drive controller


10.2.82 C0271 Incorrect encoder 1 parameterization


was "C0271 Parameterization motor encoder incorrect
(hardware)".
During the execution of the command "C0200", an error with regard to the
parameterization of the hardware of the motor encoder was detected.
Cause Remedy
Parameterization "P-0-0074, Encoder type 1 (motor Check if the parameterized encoder type is suitable for the
encoder)" does not match interface card (e.g. EN1 with encoder interface
EnDat encoder)
In "current control with motor encoder" (see "P-0-0045, Enter the value suitable for the motor encoder in "P-0-0074,
Control word for current control”), it has been detected that Encoder type 1 (motor encoder)".
in "P-0-0074, Encoder type 1 (motor encoder)" "operation
without an encoder" is set
The parameterization in "P-0-0077, Assignment motor Correct the assignment of motor encoder and optional slot in
encoder-->optional slot" is not correct. parameter "P-0-0077, Assignment motor encoder-->optional
slot"

10.2.83 C0272 Incorrect encoder 1 parameterization (mechanics)


was "C0272 Parameterization motor encoder incorrect
(mechanics)".
During the execution of the command "C0200", an error with regard to the set
scaling and the selected motor encoder type has been detected (e.g. rotary
scaling with linear motor encoder).
Cause Remedy
The encoder type is incorrect (S-0-0277, Position encoder Check "S-0-0277, Position encoder type 1" and correct if
type 1) required
Parameterized scaling (S-0-0076, Position data scaling type) Check "S-0-0076, Position data scaling type" and correct if
is incorrect required
The parameterized motor type (P-0-4014, Type of Correct "P-0-4014, Type of construction of motor"
construction of motor) is incorrect
The maximum travel range (S-0-0278, Maximum travel Enter a value higher then "0" for "S-0-0278, Maximum travel
range) has been entered incorrectly range"

10.2.84 C0273 Modulo value for encoder 1 cannot be displayed


was "C0273 Modulo value for motor encoder cannot be
displayed".
modulo value of the motor encoder was detected.
Cause Remedy
The parameterized value for "S-0-0103, Modulo value" is Correct the content of "S-0-0103, Modulo value" and/or the
higher than the maximum travel range (cf. "S-0-0278, value of "S-0-0278, Maximum travel range"
Maximum travel range")
The parameterized value for "S-0-0103, Modulo value" Correct the content of "S-0-0103, Modulo value" and/or the
cannot be displayed internally with the set gear ratios set gear ratios ["S-0-0121, Load gear input
(S-0-0121/S-0-0122, P-0-0121/P-0-0122) revolutions"/"S-0-0122, Load gear output revolutions";
"P-0-0121, Gear 1 motor-side (motor encoder)"/"P-0-0122,
Gear 1 encoder-side (motor encoder)"]

10.2.85 C0274 Encoder 1 unknown


was "C0274 Motor encoder not known".
During the execution of command "C0200" an error of the motor encoder was
detected. The content of "P-0-1000, Encoder type 1, encoder memory" is not
valid, making the parameterized motor encoder not permissible (e.g. rotary
scaling with linear encoder).
Cause Remedy
The encoder memory (feedback) is defective The encoder (or motor) has to be replaced
The type of motor encoder (P-0-1000, Encoder type 1, Check content of "P-0-1000, Kind of encoder 1, encoder
encoder memory) is not supported by the firmware memory" and contact the customer service
The detected encoder type does not match the Check control section configuration and, if necessary,
parameterized encoder type replace control section by a correctly configured control
section or replace entire drive controller


10.2.86 C0275 Error when reading encoder data => encoder 2


was "C0275 Error when reading encoder data => optional
encoder".
Cause Remedy
Parameterization "P-0-0075, Encoder type 2 (optional Check content of "P-0-0075, Encoder type 2 (optional
encoder)" incorrect. encoder)" and ensure that the encoder type inserted on the
Encoder interface defective on control section. Replace control section or entire drive controller.
encoder evaluation for encoder 2 is not active or that the wrong encoder
interface has been entered in "P-0-0077, Assignment encoder 1->interface".
Cause Remedy
Parameterization "P-0-0078, Assignment encoder 2- Check content of "P-0-0078, Assignment encoder 2-

>interface" incorrect interface" and correct it so that the correct assignment of the
incorrect correct it so that the correct assignment of the encoder to
the interface is provided
connection found". configured as encoder. "S-0-0610.2.1, Encoder status
(input)" and "S-0-0610.2.2, Position unscaled (input)" have
to be configured.

10.2.87 C0276 Incorrect encoder 2 parameterization


was "C0276 Parameterization optional encoder incorrect
(hardware)".
parameterization of the hardware of the optional encoder was detected.
Cause Remedy
Parameterization "P-0-0075, Encoder type 2 (optional Correct parameterization of "P-0-0075, Encoder type 2
encoder)" does not match interface card (e.g. EN1 with (optional encoder)"
EnDat encoder)
"P-0-0078, Assignment optional encoder->optional slot" Correct parameterization of "P-0-0078, Assignment optional
incorrect encoder->optional slot"

10.2.88 C0277 Incorrect encoder 2 parameterization (mechanics)


was "C0277 Parameterization optional encoder incorrect
(mechanics)".
During the execution of the command "C0200", an error with regard to the set
scaling and the selected motor encoder type has been detected (e.g. rotary
scaling with linear optional encoder).
Cause Remedy
The encoder type is incorrect (S-0-0115, Position encoder Check "S-0-0115, Position encoder type 2" and correct if
type 2) required
Parameterized scaling (S-0-0076, Position data scaling type) Check "S-0-0076, Position data scaling type" and correct if
is incorrect required

10.2.89 C0278 Modulo value for encoder 2 cannot be displayed


was "C0278 Modulo value for optional encoder cannot be
displayed".
modulo value of the optional encoder was detected.
Cause Remedy
The parameterized value for "S-0-0103, Modulo value" is Correct the content of "S-0-0103, Modulo value" and/or the
higher than the maximum travel range (cf. "S-0-0278, value of "S-0-0278, Maximum travel range"
Maximum travel range")
The parameterized value for "S-0-0103, Modulo value" Correct the content of "S-0-0103, Modulo value" and/or the
cannot be displayed internally with the set gear ratios set gear ratios ["S-0-0121, Load gear input
(S-0-0121/S-0-0122, P-0-0121/P-0-0122) revolutions"/"S-0-0122, Load gear output revolutions";
"P-0-0121, Gear 1 motor-side (motor encoder)"/"P-0-0122,
Gear 1 encoder-side (motor encoder)"]
Encoder resolution ("S-0-0117, Encoder 2 resolution") Check and, if necessary, correct parameterization
incorrectly parameterized of"S-0-0117, Encoder 2 resolution"
The resolution of the encoder does not match the required Replace encoder
modulo range

10.2.90 C0279 Encoder 2 unknown


was "C0279 Optional encoder unknown".
During the execution of command "C0200" an error of the optional encoder

was detected. The content of "P-0-1010, Encoder type 2, encoder memory" is
not valid, making the parameterized optional encoder not permissible (e.g.
rotary scaling with linear encoder).
Cause Remedy
The encoder memory (feedback) is defective The encoder has to be replaced

The type of motor encoder (P-0-1010, Encoder type 2, Check content of "P-0-1010, Encoder type 2, encoder
encoder memory) is not supported by the firmware memory" and contact the customer service
The detected encoder type does not match the Check control section configuration and, if necessary,
parameterized encoder type replace control section by a correctly configured control
section or replace entire drive controller


10.2.91 C0280 Maximum travel range cannot be displayed internally

In the case of absolute scaling, the maximum travel range is the overflow limit
of the position feedback values. If this travel range cannot be correctly
displayed internally so that error-free position generation is impossible, this
error is generated.
Cause Remedy
"S-0-0278, Maximum travel range" incorrectly parameterized Check "S-0-0278, Maximum travel range" and reduce it, if
necessary
S-0-0116 / S-0-0117 incorrectly set (e.g., value "0") Check "S-0-0116, Resolution of feedback 1" / "S-0-0117,
Resolution of feedback 2" and correct them, if necessary
Value for "S-0-0278, Maximum travel range" is inadmissible, Check "S-0-0278, Maximum travel range" and change value,
although it might be within the respective absolute encoder if necessary (take respective absolute encoder range into
range account!)
Position resolution of a pole pair or of the pole pair distance "P-0-0018, Number of pole pairs/pole pair distance" has
is too low. It is impossible to internally display the value "0" or a value that is too low (wrong unit might have
commutation offset value exactly enough been set). Check "P-0-0018, Number of pole pairs/pole pair
distance" and correct it, if necessary
Value of feed constant S-0-0123 is "0" in the case of linear Enter a value greater than "0" in S-0-0123
scaling - or-
Set rotary scaling

10.2.92 C0281 Commutation resolution too small

Commutation or commutation initialization via encoder 2 is impossible.
Cause Remedy
Parameterized mechanical system does not allow ● Reduce maximum travel range ("S-0-0278, Maximum
unequivocal commutation via optional measuring system travel range")
● Adjust gear ("S-0-0121, Input revolutions of load gear";
"S-0-0122, Output revolutions of load gear"; ...)
● Use appropriate encoder (e.g. multi-turn)
C0281 - Detailed diagnostics 001E0003

001E0004
001E0005

10.2.93 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters


parameterization level procedure command" an error was detected in the
parameterization of sensorless positioning of synchronous motors.
Cause Remedy
Sensorless positioning of synchronous motors was Use parameter file made available by Bosch Rexroth
incorrectly parameterized
Incorrect motor control mode was parameterized Check parameters P-0-0045, P-0-4014 and P-0-0074
Parameter file made available by Bosch Rexroth is defective Please contact our service department

10.2.94 C0283 Error during initialization of motor control (->S-0-0423)


parameterization level procedure command" or "S-0-0128, C5200
Communication phase 4 transition check" an error was detected.
During the command, the following parameters are checked for consistency:
● P-0-0045, Control word of current controller
● P-0-0074, Encoder type 1 (motor encoder)
● P-0-4014, Type of construction of motor
● P-0-3980, FOCsl: configuration word

● P-0-2003, Selection of functional packages
If inconsistencies in the parameter setting are detected, the

parameters are entered in parameter "S-0-0423, IDN-list of invalid
op. data for parameterization level".
Cause Remedy
An error was detected during adjust of type of construction Check and correct parameters in "S-0-0423, IDN-list of
of motor, encoder type, kind of current control invalid op. data for parameterization level"
An error was detected in enabling of functional packages There was an attempt to activate sensorless positioning of
synchronous motors in functional package open-loop.
Check and correct parameters in "S-0-0423, IDN-list of
invalid op. data for parameterization level"

10.2.95 C0284 Invalid motor data in encoder memory (->S-0-0423)


Communication phase 4 transition check" an error during the reading of the
motor data from the data memory of the motor encoder was detected.
The concerned parameters are entered in "S-0-0423, IDN-list of invalid data
for parameterization levels".
Cause Remedy
Measuring system cable defective Replace measuring system cable

Measuring system defective Replace measuring system
Encoder interface defective Replace control section or entire drive controller


10.2.96 C0285 Type of construction of motor P-0-4014 incorrect


Communication phase 4 transition check" an error in the parameterization of
the type of construction of the motor was detected.
The concerned parameter is entered in "S-0-0423, IDN-list of

invalid op. data for parameterization level".
Cause Remedy
A motor without encoder data memory was connected Parameterize "P-x-4014, Type of construction of motor"
correctly or connect a motor with encoder data memory
Note: "x" in parameter number is a wild card for parameter
set; e.g. "P-0-4014" for first parameter set.
A motor with encoder data memory was connected, but data Check whether "P-0-2141, Motor type, encoder memory"
stored in memory are incomplete or encoder line resp. contains correct type designation of connected motor. If not,
encoder is defective contact our service department.
If "P-0-2141, Motor type, encoder memory" cannot be read,
replace encoder line or motor encoder

10.2.97 C0286 Several motor encoders connected

During the execution of the command "C0200" two motor encoders were
detected during the encoder configuration check.
Cause Remedy
Two encoders were detected; in their data memories a valid Replace one of encoders by encoder without valid motor
and known motor type string is contained in "P-0-2141, type string
Motor type, encoder memory"
Encoder connectors of neighboring axes were interchanged Check axis assignment of encoder connectors and assign to
correct axis

10.2.98 C0287 Error during initialization of motor data (->S-0-0423)


initialization of the motor data. The concerned parameters are entered in the
list "S-0-0423, IDN-list of invalid op. data for parameterization level".
Cause Remedy
Invalid motor data stored in motor data memory Replace motor

- or -
Contact service department to get support with correction of
motor data
Encoder cable defective or bad shielding Check encoder cable and shielding
Encoder memory or encoder electronics defective Replace encoder


10.2.99 C0288 Rotary scaling not allowed

During the execution of the command "C0200" an error was detected with
regard to scaling that was set and the selected motor type (e.g. rotary scaling
although a linear motor is used). The phase switch to communication phase 4
is prevented.
Cause Remedy
Although a linear motor is used, rotary scaling was selected Check and correct respective scaling parameter(s) or use a
in at least one of the following parameters: linear encoder
● S-0-0044, Velocity data scaling type
● S-0-0076, Position data scaling type
● S-0-0086, Torque/force data scaling type
● S-0-0160, Acceleration data scaling type

10.2.100 C0289 Error at init. of synchr. motor with reluctance torque

During the execution of the command "C0200" a validation error was

detected during the initialization of a synchronous motor with reluctance
torque.
The initialization of a synchronous motor with reluctance torque is

only run when this has been set in parameter "P-0-4014, Type of
construction of motor".
The initialization of a synchronous motor implies the following parameters:

● S-0-0109, Motor peak current
● S-0-0110, Amplifier peak current
● S-0-0111, Motor current at standstill
● P-0-0018, Number of pole pairs/pole pair distance
● P-0-0051, Torque/force constant
● P-0-4002, Charact. of quadrature-axis induct. of motor, inductances
● P-0-4003, Charact. of quadrature-axis inductance of motor, currents
● P-0-4016, Direct-axis inductance of motor
● P-0-4017, Quadrature-axis inductance of motor
Cause Remedy
Incomplete or invalid entries in parameters for initialization of Check parameter contents and enter data supplied by motor
synchronous motor manufacturer in above parameters. If error is generated in
spite of correct data, please contact our service department
Initialization for synchronous motor with reluctance torque Correct setting in "P-0-4014, Type of construction of motor"
was run although synchronous motor without reluctance
torque is used
See also Functional Description of firmware "Third-Party Motors at IndraDrive

Controllers"
10.2.101 C0290 Error when reading encoder data => measuring encoder
Cause Remedy
Parameterization "P-0-0076, Encoder type 3 (measuring Check content of "P-0-0076, Encoder type 3 (measuring
encoder))" incorrect encoder)" and ensure that the encoder type inserted on the
Encoder interface defective on control section. Replace control section or entire drive controller
encoder evaluation for measuring encoder is not active or that the wrong
encoder interface has been entered in "P-0-0079, Assignment measuring
encoder->interface".
Cause Remedy
Parameterization "P-0-0079, Assignment measuring Check content of "P-0-0079, Assignment measuring

encoder->interface" incorrect encoder->interface" and correct it so that the correct
assignment of the measuring encoder to the interface is
provided
incorrect correct it so that the correct assignment of the measuring
connection found". configured as measuring encoder. "S-0-0610.3.1, Encoder
status (input)" and "S-0-0610.3.2, Position unscaled (input)"
have to be configured.


10.2.102 C0291 Incorr. parameterization of measuring enc. (hardware)

parameterization of the hardware of the measuring encoder was detected.
Up to Firmware version 19
Cause Remedy
"P-0-0079, Assignment measuring encoder->interface" Correct parameterization of "P-0-0079, Assignment

incorrectly parameterized measuring encoder->interface" or change control section
configuration (replacement of control section or drive
controller)
In the case of a multi-axis device, "P-0-0076, Encoder type 3 Only one measuring encoder can be connected per multi-
(measuring encoder)" was parameterized unequal "0" for axis device. "P-0-0076, Encoder type 3 (measuring
more than one axis encoder)" may only be unequal "0" for one axis
Only up to firmware version 17; control Sections CSB01, Reduce performance (P-0-0556) or increase clock frequency
CSH01, CDB01 with option "MD2": (P-0-0910)
Clock frequency selected in "P-0-0910, SSI control
parameter" cannot be supported
Firmware version 20 and above
Cause Remedy
In the case of a multi-axis device, "P-0-0079, Encoder type Only one measuring encoder can be connected per multi-
assignment measuring encoder->interface" was axis device. "P-0-0079, Assignment measuring encoder-
parameterized unequal "0" for more than one axis >interface" may only be unequal "0" for one axis
An error occurred when calculating the conversion factor The error can be cleared by one of the following measures:
from the encoder raw format into the display format ● Reducing the value in "P-0-0765, Modulo factor
measuring encoder"
● Reducing the value in "S-0-0611.3.2 Resolution
position (input)"
● Reducing the gear ratio (P-0-0127 / P-0-0128)

10.2.103 C0292 Measuring encoder unknown

measuring encoder was detected. The content of "P-0-1020, Kind of
encoder 3, encoder memory" is invalid and the measuring encoder therefore
is not allowed.
Cause Remedy
Encoder memory (feedback) is defective Encoder must be replaced

Kind of motor encoder ("P-0-1020, Kind of encoder 3, Check content of "P-0-1020, Kind of encoder 3, encoder
encoder memory") is not supported by the software memory" and contact our service department
Detected kind of encoder does not match parameterized Check "P-0-0079, Assignment measuring encoder -
type of encoder ("P-0-0079, Assignment measuring encoder >optional slot" and, if necessary, replace control section by
->optional slot") correctly configured control section or replace complete
drive controller


10.2.104 C0293 Modulo value for measuring encoder cannot be displayed

During the execution of command "C0200" an error was detected.
Cause Remedy
Value parameterized for "P-0-0765, Modulo factor Correct content of "P-0-0765, Modulo factor measuring
measuring encoder" cannot be displayed internally with gear encoder" or measuring gear settings ("P-0-0127, Input
that was set revolutions of measuring gear" and "P-0-0128, Output
revolutions of measuring gear")
"P-0-0327, Encoder resolution of measuring encoder" Check and, if necessary, correct content of "P-0-0327,
incorrectly parameterized Encoder resolution of measuring encoder"

10.2.105 C0294 Incorrect measuring encoder configuration

measuring encoder configuration was detected.
Cause Remedy
At least one of selected operating modes is synchronization Check and, if necessary, correct parameterization of
mode (velocity synchronization, phase synchronization or operating mode parameters ("S-0-0032, Primary mode of
electronic cam shaft) and control encoder of synchronization operation"; "S-0-0033, Secondary operation mode 1";
mode has simultaneously been configured as measuring "S-0-0034, Secondary operation mode 2";...) if
encoder. This configuration is not useful. synchronization mode is not required.
If synchronization mode is required, deactivate measuring
encoder or use additional encoder as measuring encoder.

10.2.106 C0295 Internal display error during scaling conversion (NM)

Allocation Contained in 16VRS: «-» «MPE» «-»
Contained in 17VRS: «-» «MPE» «-» «-»
Contained in 18VRS: «-» «MPE» «-» «-»
Contained in 19VRS: «-» «MPE» «-» «-» «-»
Contained in 20VRS: «-» «MPE» «-» «-» «-»

Cause Remedy
During conversion of physical data to internal data format, Contact our service department
display limits were exceeded so that parameters internally
could not be displayed correctly.

10.2.107 C0296 Error in initialization of absolute encoder monitoring


initialization of the absolute encoder monitoring. The encoder which has
triggered the diagnostic message (motor encoder, optional encoder,
measuring encoder) has been recorded in the drive logbook.
Cause Remedy
Only encoders without HIPERFACE or EnDat interface: Deactivate cyclic absolute encoder monitoring (S-0-0277,
Encoder is not supported. S-0-0115, P-0-0328)
Only encoders with HIPERFACE interface: Error in Contact our service department.
calculation of an internal monitoring threshold Short-term remedy: Deactivate cyclic absolute encoder
monitoring (S-0-0277, S-0-0115, P-0-0328)

10.2.108 C0297 Encoder type not possible for selected constr. type of motor
The selected encoder type is not supported by the parameterized motor type.
Cause Remedy
"P-0-0074, Encoder type 1 (motor encoder)" selected Change or deactivate encoder type
incorrectly
"P-0-4014, Motor type" selected incorrectly Set correct motor type

10.2.109 C0298 Impossible to exit parameterization level


command" was started but cannot be executed.
Cause Remedy
During firmware download there was an attempt to switch to Wait until firmware download has been completed before
operating mode switching to operating mode
After a boot error (F81xx error) there was an attempt to 1. Terminate command
switch to operating mode 2. Clear boot error (F81xx error)
3. Remove cause
4. Reboot drive

10.2.110 C0299 Configuration changed. Restart

In the execution of command "S-0-0422, C0200 Exit parameterization level

procedure command", the configuration was detected to have been changed
without the drive having been restarted.
Cause Remedy
"P-0-2003, Selection of functional packages" contains Restart drive in order to apply functional package selection
functional package selection not corresponding to active of P-0-2003 to P-0-2004
functional package selection (cf. "P-0-2004, Active functional
packages")
Incorrect functional package selection in "P-0-2003, Set value in "P-0-2003, Selection of functional packages" to
Selection of functional packages" value in "P-0-2004, Active functional packages"
In "P-0-4089.0.1, Master communication: Protocol", Switch drive off and on again to apply change in
selection of field bus protocol was changed "P-0-4089.0.1, Master communication: Protocol"
The drive can be restarted either by removing the 24-V supply or

(as of MPx17V08) by starting the "Reboot command" (C6400).
See also Application Manual "Enabling of Functional Packages"

001E0007
001E0008
001E0009
001E000A
001E000B
001E000C

10.2.111 C0301 Measuring system unavailable

During the execution of the command "set absolute position" (C0300), the
measuring system selected via parameter "S-0-0448, Set absolute position
control" was detected to be unavailable.
Cause Remedy
Command was activated by mistake Prevent command from being activated

Measuring system has not been parameterized Parameterize measuring system

10.2.112 C0302 Absolute evaluation of measuring system impossible

During the execution of the command "set absolute position" ("S-0-0447,

C0300 Set absolute position procedure command"), it was detected that the
selected measuring system cannot be evaluated in absolute form.
The command "set absolute position" can only be executed, when

an absolute measuring system is available (see "S-0-0277,
Position feedback 1 type", "S-0-0115, Position feedback 2 type"
or "P-0-0328, Type of position encoder for measuring encoder").
Cause Remedy
Command was activated by mistake Prevent command from being activated

Measuring system specified via "S-0-0448, Set absolute Equip motor or optional measuring system with absolute
position control" does not use an absolute encoder encoder function
Selected maximum travel range is too big Check value in "S-0-0278, Maximum travel range" for motor
encoder and optional encoder or check value in "P-0-0765,
Modulo factor measuring encoder" for measuring encoder.

● "Establishing Position Data Reference for Absolute Measuring Systems"
● "Measuring Encoder"
10.2.113 C0303 Absolute encoder offset cannot be saved

When executing the command for setting absolute measuring (C0300) the
offset of the encoder zero point with regard to the machine zero point is
determined and stored in the data memory of the encoder. It was impossible
to store the offset correctly.
Cause Remedy
Communication between encoder and drive is disturbed Check encoder cable and repair it, if necessary
- or -
Replace encoder

10.2.114 C0304 Command cannot be executed under drive enable

During the execution of the command "setting absolute position" (C0300) an

error occurred.
Cause Remedy
Command was activated under drive enable Deactivate drive enable. Then restart command.
- or -
If you want to execute command under drive enable, bit 2
must have been set in "S-0-0448, Set absolute position
control".

10.2.115 C0401 Switching not allowed

When switching to parameterization level 1 (C0400) an error was detected.
Cause Remedy
Command for switching to parameterization level 1 was Terminate command and switch drive enable off, then
started via parameter "S-0-0420, C0400 Activate command can be started again
parameterization level 1 procedure command", although
drive enable had been activated

10.2.116 C0403 Switching to CCD phase 2 impossible

During the execution of the command "S-0-0420, C0400 Activate

parameterization level 1 procedure command" an error occurred with regard
to the CCD slaves (CCD: Cross Communication Drives).
P-0-1800.0.1/P-0-1600, bit 5 can be used in the CCD slaves to

define whether the sercos phase progression is decoupled from
device switching. As a result, an error during axis initialization
does not necessarily cause the CCD phase progression to be
aborted.
Parameterization level 1 is activated despite incorrect execution

of command "S-0-0420, C0400 Activate parameterization level 1
procedure command".
Cause Remedy
The attempt to bring CCD slaves to CCD phase 2, 30 Check communication with CCD slaves
seconds after start of command "S-0-0420, C0400 Activate
parameterization level 1 procedure command" has failed
due to communication problem with CCD slaves

10.2.117 C0404 SMO: Incorrect change of system state

In the execution of command "S-0-0420, C0400 Activate parameterization

level 1 procedure command", an error occurred in the SMO.
10.2.118 C0501 Error clearing only in parameter mode

During the execution of the error clearing command (C0500) an error was
detected.
Cause Remedy
There was an attempt to clear error "F8022 Enc. 1 error: Switch drive to communication phase 2 by means of
sign. amplitude (can be cleared in ph.2)" in communication command "P-0-4023, C0400 Communication phase 2
phase 4 (operating mode). This is only possible in transition" and start error clearing command again.
communication phase 2 (parameterization mode).

10.2.119 C0601 Homing only possible with drive enable

During the execution of the "Drive-controlled homing procedure" command

(C0600) an error was detected.
Cause Remedy
Command was started without drive enable. This is not Enable drive and start command again.
allowed.

10.2.120 C0602 Distance home switch - reference mark erroneous

During the execution of the command for drive-controlled homing (C0600) an

error was detected.
Cause Remedy
Evaluation of home switch has been switched on Read value from parameter "S-0-0298, Reference cam shift"
("S-0-0147, Homing parameter"). Distance between selected and apply it to parameter "S-0-0299, Home switch offset"
home switch edge and reference mark to be evaluated is - or -
outside of allowed range.
Shift reference cam

10.2.121 C0603 Homing impossible with optional encoder

During the execution of the command "C0600 Drive-controlled homing

procedure command" an error occurred.
Cause Remedy
Optional encoder has been parameterized as homing Parameterize motor encoder as homing encoder in
encoder in "S-0-0147, Homing parameter" although optional "S-0-0147, Homing parameter"
encoder does not exist
Optional encoder has not been activated Activate optional encoder in "P-0-0075, Encoder type 2
(optional encoder)"

10.2.122 C0604 Homing impossible with absolute encoder

When the command for drive-controlled homing (C0600) was executed, an

error was detected.
Cause Remedy
Via the encoder selection in "S-0-0147, Homing parameter", First activate the "S-0-0447, C0300 Set absolute position
an absolute measurement system was selected. The procedure command" and then start the "S-0-0148, C0600
command for drive-controlled homing can only be carried Drive-controlled homing procedure command"; this
out if the "S-0-0447, C0300 Set absolute position procedure establishes the absolute position data reference.
command" was activated beforehand.

10.2.123 C0606 Reference mark not detected


error with regard to the reference marks of the encoder was detected.
If the reference marks of the relative encoder to be homed (selected in
"S-0-0147, Homing parameter") occur cyclically over the travel range, the
position difference of the reference marks detected by the controller is
monitored. This requires the correct setting for "P-0-0153, Optimum distance
home switch-reference mark".
Cause Remedy
Reference marks do not occur in expected position Check measuring system to be homed and corresponding
difference wiring
- or -
Check and, if necessary, correct setting of "P-0-0153,
Optimum distance home switch-reference mark"
Value set in "P-0-0153, Optimum distance home switch- Correct setting of "P-0-0153, Optimum distance home
reference mark" does not match encoder that is used switch-reference mark"


10.2.124 C0607 Reference cam input not assigned

During the execution of the "Drive-controlled homing procedure" command

Cause Remedy
Home switch hasn't been assigned to any digital input Assign home switch ("S-0-0400, Home switch") to a digital
input via parameter "P-0-0300, Digital I/Os, assignment list"

10.2.125 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes

error was detected.
Cause Remedy
Drive-controlled homing at positive stop or travel range limit Modify control information for homing in "S-0-0147, Homing
switch with modulo axes isn't a useful combination and parameter" in a useful way
therefore not allowed!

10.2.126 C0609 Different travel directions parameterized

When, in the case of modulo scaling, the homing direction parameterized in

"S-0-0147, Homing parameter" and the positioning direction set for spindle
positioning in "S-0-0393, Command value mode" do not match, the command
error C0609 is output during the execution of the command for drive-
controlled homing (C0600).
Cause Remedy
Travel directions for homing and positioning were differently Parameterize travel directions in "S-0-0147, Homing
parameterized parameter" and "S-0-0393, Command value mode" in such a
way that they match

10.2.127 C0610 Absolute encoder offset could not be saved


error occurred: In the case of a measuring system with feedback data
memory evaluated in absolute form, the determined absolute encoder offset
could not be saved in the feedback data memory.
Cause Remedy
Cable defective Check connection between encoder and drive controller

Feedback data memory defective Replace encoder

10.2.128 C0611 Travel range greater than absolute range (distance-coded)

When the command for drive-controlled homing (C0600) had been executed,
an error with regard to the travel range was detected.
During drive-controlled homing, the travel range is only checked

with distance-coded rotary encoders and absolute scaling.
Cause Remedy
The effective travel range (S-0-0278 × 2) is greater than the Make sure that the effective travel range (S-0-0278 × 2) is
absolute encoder range; the unequivocal reference position less than or equal to the absolute encoder range.
cannot be determined with the homing procedure. The absolute encoder range is calculated as follows:
NOTES: Rotary scaling
● If load gear (S-0-0121/S-0-0122) and feed constant ● Motor encoder with scaling at motor:
(S-0-0123) were parameterized, this has an effect on
the travel range (S-0-0278). In addition, the encoder Absolute encoder range = 1 revolution =
gearboxes have to be taken into account 360° × P-0-0121/P-0-0122
(encoder 1: P-0-0121/P-0-0122, encoder 2: P-0-0124/ ● Motor encoder with scaling at load:
P-0-0125) .
Absolute encoder range =
● The absolute encoder range furthermore depends on
the following factors: 360° × P-0-0121/P-0-0122 × S-0-0121/S-0-0122
– Type of scaling (rotary/linear) ● External encoder:

– Reference of scaling (at motor/at load) Absolute encoder range =
– Mounting position of encoder [encoder 1 (motor 360° × P-0-0124 /P-0-0125

encoder) / encoder 2 (external encoder)] Linear scaling
● Motor encoder with scaling at load:
Absolute encoder range =
S-0-0123 × S-0-0121/S-0-0122 × P-0-0121/P-0-0122
See also Functional Description of firmware "Establishing position data

reference for absolute measuring systems"

10.2.129 C0702 Default parameters not available

During the execution of the command "C0700 Load defaults proced.

command (motor-spec. controller val.)" an error has occurred.
Cause Remedy
Control loops of motors with motor encoder data memory Data sheets of Rexroth motors are made available by the
are adjusted to connected digital drive by activating service department. Enter controller parameters.
controller parameters stored in it.
Message C0702 on display of drive controller signals that no
data memory is available at connected motor.

● "Rexroth Housing Motors with Encoder Data Memory"
10.2.130 C0703 Default parameters invalid


Cause Remedy
Default parameters are read from motor encoder data Check connection to motor encoder. Replace motor, if
memory. At least one of these parameters is invalid. necessary.

10.2.131 C0704 Parameters not copyable


Cause Remedy
It was impossible to load default values for motor-specific Load appropriate firmware version to controller; observe
control loop parameters, available in encoder memory, to motor type and motor encoder type
respective parameters. Firmware version is incompatible
with motor or motor encoder
Performance and switching frequency setting do not match Correct performance setting in "P-0-0556, Control word of
axis controller" and switching frequency setting in "P-0-0001,
Switching frequency of the power output stage"

10.2.132 C0706 Error when reading the controller parameters


command (motor-spec. controller val.)" an error occurred when reading the
controller parameters from the motor encoder data memory.
Cause Remedy
Motor encoder data memory defective Replace motor encoder

10.2.133 C0711 Loading requires determination of system parameters

It is currently not possible to execute the "C0710 Command Load power-

supply specific controller values".
Cause Remedy
The system parameters (DC bus capacity and inductance at Load the DC bus of the power supply once by closing main
commutation choke) required for the command are not yet and mains contactor (S-0-1720.0.1, Power supply control
verified or are invalid. word) (soft start) and bring the power supply into the
operating condition "A0502" (display indication "Lb"). The
verification is carried out during the soft start phase.

10.2.134 C0721 SMO: Load defaults procedure not possible

The command "C0720 SMO: Load defaults procedure command" cannot

currently be executed.
Cause Remedy
Password dependent write protection on parameters is Remove password dependent write protection on
active (see "P-0-3220, SMO: Password level") parameters by writing "P-0-3263.0.1, SMO: Password"
Internal error Abort command and restart.
If error occurs again, contact our service department.

00530264
00540261
00540264

10.2.135 C0722 SMO: Error in load defaults procedure

In the execution of command "C0720 SMO: Load defaults procedure

command", an error occurred.
Cause Remedy
Parameter incorrect. 1. Check and correct parameter

Note: The incorrect parameter is listed in "P-0-3233, SMO: 2. Verify parameter
List of non-verified parameters". 3. Execute command again

00540263

10.2.136 C0723 SMO: Error in deactivation

In the execution of command "C0720 SMO: Load defaults procedure

command", an error occured.
The transition of "SMO_Parametrierization mode" to "SMO_not_active" was
terminated with an error.
The password level of the SMO (P-0-3230) was maintained.
00540262

10.2.137 C0743 Error in activation of field bus profile settings

The command "S-0-0262, C07_x Load defaults procedure command" with

the option "set field bus profile settings" was started. An error occurred in the
process.
Cause Remedy
Field bus is currently exchanging process data with field bus Terminate cyclic process data exchange (example:
master/controller CANopen master switches drive from "Operational" to "Pre-
Operational")

10.2.138 C0751 Parameter default value incorrect (-> S-0-0423)

The command "C0750 Load defaults procedure command (factory settings)"

was started. An error occurred when a default value was written.
The faulty parameter is recorded in the parameter "S-0-0423,

IDN-list of invalid data for parameterization levels".

10.2.139 C0752 Locked with password

During the execution of the command "C0750 Load defaults procedure

command (factory settings)" an error occurred.
Cause Remedy
Drive parameters were write-protected by means of Deactivate write protection by entering the password. Then
parameter "S-0-0267, Password". Diagnostic message restart command.
C0752 signals that command C0750 was started without
first deactivating customer password.
See also Functional Description of firmware "Using a Password"

10.2.140 C0761 Factory default values incorrect (->S-0-0423)

During the execution of the command "S-0-0262, C07_x Load defaults

procedure command (factory settings)" (see also "P-0-4090, Configuration for
loading default values"), an error has occurred during the evaluation of the
parameter "P-0-0660.0.1, Configurable factory default values".
Cause Remedy
Content of parameter P-0-0660.0.1 could not be interpreted Write content of a parameter backup to P-0-0660.0.1 to
without error (data status valid, but content does not comply activate configurable factory default values.
with required format, e.g. all list elements="0xffffffff"). If there isn't any parameter backup available, P-0-0660.0.1
can be cleared (set actual length to "0"), but in this case the
configurable factory default values aren't active anymore!
See also Functional Description of firmware "Loading, Storing and Saving

Parameters"
10.2.141 C0762 Locked with password

An error occurred during the execution of the command "C0760 Load

defaults procedure command (application data)".
Cause Remedy
Drive parameters were write-protected by means of Deactivate write protection by entering password. Then
parameter "S-0-0267, Password". Diagnostic message restart command.
C0762 signals that command C0760 was started without
first deactivating customer password.
See also Functional Description of firmware "Using a password"

10.2.142 C0763 Load defaults procedure (application data), invalid param.

An error occurred during the execution of the command "C0760 Load

defaults procedure command (application data)".
Cause Remedy
P-0-3075 not contained in encoder memory or invalid data Contact the machine manufacturer
status of P-0-3075 - or -
Execute command "P-0-0660, C6300 Generate type plate
command" to store a valid P-0-3075 in encoder memory

10.2.143 C0799 An invalid index was set

At the time the command "C0700 Load defaults proced. command (motor-
spec. controller val.)" was started, no valid value had been entered in
"P-0-4090, Configuration for loading default values".
Via "P-0-4090, Configuration for loading default values", the

function of the command "C0700 Load defaults proced. command
(motor-spec. controller val.)" can be set.
After the command was cleared, the value in "P-0-4090,
Configuration for loading default values" is automatically set to "0"
again.

10.2.144 C0902 Spindle positioning requires drive enable

During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause Remedy
At start of "S-0-0152, C0900 Position spindle command", Set drive enable before starting command
drive was not yet in drive enable

10.2.145 C0903 Error during initialization

was detected.
Cause Remedy
At start of "S-0-0152, C0900 Position spindle command", For incremental measuring systems, check whether
respective encoder had not yet been initialized (homed) "S-0-0400, Home switch" was assigned to a digital input.
Assignment, connection and function of home switch must
have been realized (only when home switch is evaluated)!
For absolute measuring systems, check whether drive is in
reference. If this is not the case, establish absolute position
data reference, e.g. by "S-0-0447, C0300 Set absolute
position procedure command"

10.2.146 C0906 Error during search for zero pulse

was detected.
Cause Remedy
Homing procedure integrated in spindle positioning was not Check parameterization of spindle positioning and of drive-
executed successfully. Encoder zero mark was not found or controlled homing procedure, especially encoder and home
it was impossible to assign it correctly. switch combination used.
- or -
Check encoder parameterization.
- or -
Check distance zero pulse - home switch.
- or -
Carry out drive-controlled homing in order to check homing
procedure.

10.2.147 C1204 Error in offset calculation

During the execution of the command for commutation offset determination

Due to incorrect or incomplete measured values, it was impossible to
determine the commutation offset correctly in the saturation mode.
Cause:
Short interruptions in the circuit (wiring or output stage interlock)
10.2.148 C1208 No adjustment with asynchronous motor


Cause:
There was an attempt to carry out a commutation offset determination with an
asynchronous motor. For asynchronous motors it is impossible to carry out a
commutation offset determination.
10.2.149 C1209 Proceed to phase 4


Cause Remedy
Drive controller is not in phase 4 (ready for operation, Switch drive controller to phase 4 and then execute
display: bb; with sine-wave and saturation method, display: command "P-0-0524, C1200 Commutation offset setting
Ab); the command "P-0-0524, C1200 Commutation offset command" again.
setting command" can only be executed in phase 4.

10.2.150 C1211 Commutation offset could not be determined.

An error has occurred during the execution of the command "P-0-0524,

C1200 Commutation offset setting command" (in this case: sine-wave
method).
Simultaneously output Fxxxx error messages allow more precise

diagnosis.

10.2.151 C1212 Motion range exceeded during commutation

The axis left the allowed actual position value range while commutation
settings were made.
Cause Remedy
Command was started while axis was still moving Wait until axis has come to standstill and restart command
Axis was moved by mechanical force Exclude influence of mechanical force
Parameter values for "P-0-0506, Amplitude for angle Reduce parameter values for "P-0-0506, Amplitude for angle
acquisition" and "P-0-0507, Test frequency for angle acquisition" and "P-0-0507, Test frequency for angle
acquisition" are too high Possibly, mechanical axis acquisition". They can also be set to default values of 25%
conditions, such as friction and load due to weight, have for "P-0-0506, Amplitude for angle acquisition" and 500 Hz
changed for "P-0-0507, Test frequency for angle acquisition".


10.2.152 C1214 Command only possible with linear synchronous motor

When executing the command for determining the commutation offset

(C1200) with the currentless procedure (see "P-0-0522,Control word for
commutation setting") the condition for the motor type was detected not to
have been fulfilled.
Cause Remedy
Connected motor is not a synchronous linear motor -

Connected motor is a synchronous linear motor, but wrong If connected motor is a synchronous linear motor with
type of construction of motor (P-0-4014) was selected or absolute measuring system, check type of construction of
pole pair distance (P-0-0018) was set to "0" motor that has been set (P-0-4014) and correct it, if
necessary
Connected motor is a synchronous linear motor, type of If connected motor is a synchronous linear motor with
construction of motor (P-0-4014) was correctly set, but there incremental measuring system or a rotary synchronous
isn't any absolute encoder with EnDat interface available motor, then use procedure with current to determine
commutation offset (see "P-0-0522, Control word for
commutation setting")

10.2.153 C1215 Command only possible in 'bb'


(C1200) with the currentless procedure (see "P-0-0522, Control word for
commutation setting") the drive was detected not to be ready for operation
("bb").
Cause Remedy
Drive is not yet ready for operation ("bb") Bring drive to ready for operation status ("bb")
- or -
Drive is already in drive enable ("AF")

10.2.154 C1216 Commutation determination not selected


Cause Remedy
There wasn't any mode for commutation determination Set a mode for commutation determination in parameter
selected "P-0-0522, Commutation setting control word"

10.2.155 C1217 Setting only possible in 'Ab'


Cause Remedy
Drive was not ready at start of command, display did not 1. Switch drive to communication phase 4, if there isn't
read "Ab" any error present, display reads "bb" ("betriebsbereit"
= ready for operation)
2. Switch power on, drive goes to operating mode,
display reads "Ab" ("Antrieb bereit" = drive ready)
3. Now start command C1200

10.2.156 C1218 Automatic commutation: Current too low

The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. If it does not exceed a minimum
threshold when the command "P-0-0524, C1200 Commutation offset setting
command" is executed, the command error C1218 is generated.
Cause Remedy
Actual current value amplitude is Increase signal voltage (P-0-0506, Amplitude for angle acquisition) or reduce signal
not sufficient for exact frequency (P-0-0507, Test frequency for angle acquisition) and restart commutation
determination of commutation setting process
offset - or -
Enter value "0" in "P-0-0506, Amplitude for angle acquisition". Appropriate value for
P-0-0506 is thereby automatically determined during commutation setting process
- or -
Reduce value of "P-0-0517, Commutation: required harmonics component", if approx.
30 similar values are determined for "P-0-0521, Effective commutation offset" with
repeated commutation setting for different motor positions (drive remains in "Ab").
Reduce "P-0-0517, Commutation: required harmonics component" until command
error C1218 no longer occurs; finally check function several times!

10.2.157 C1219 Automatic commutation: Overcurrent


Cause Remedy
The actual current is higher than the allowed maximum Reduce the signal voltage ("P-0-0506, Voltage amplitude for
current. angle acquisition") or increase the signal frequency
("P-0-0507, Test frequency for angle acquisition").
- or -
With P-0-0506 = 0 start the automatic determination of
appropriate values.

10.2.158 C1220 Automatic commutation: Timeout


Cause Remedy
An error occurred in signal generator Switch drive off and on again. If error continues to be
signaled, contact our service department

10.2.159 C1221 Automatic commutation: Iteration without result

The commutation offset determination (P-0-0524, C1200 Commutation offset

setting command) was unsuccessful. It was impossible to find appropriate
values for "P-0-0506, Amplitude for angle acquisition" and "P-0-0507, Test
frequency for angle acquisition" with which it would have been possible to
obtain sufficient magnetic saturation effects in the motor. It was therefore
impossible to determine a functioning value for the commutation offset.
Cause Remedy
Type current of controller too low Use controller that can supply motor with sufficiently high current (for Rexroth kit
motors, required minimum current for magnetic saturation effects is approx. 2.0...2.5-
fold continuous current at standstill).
If without success, check whether sine-wave method can be used for commutation
offset setting
Test current generated in motor is Manually increase value of "P-0-0506, Amplitude for angle acquisition" or reduce
too low value of "P-0-0507, Test frequency for angle acquisition" so that higher test current is
generated.
If without success, check whether sine-wave method can be used for commutation
offset setting

10.2.160 C1222 Error when writing offset parameters


(C1200) with the currentless procedure (see "P-0-0522, Commutation setting
control word") the determined commutation offset value is written to the
P-0-0508, P-0-0521 and P-0-3008 parameters. When writing data to these
parameters an error or a disorder occurred.
Cause Remedy
For at least one of parameters P-0-0508, P-0-0521 or Execute command C1200 again
P-0-3008 it was impossible to write determined commutation - or -
offset value to it
Check wiring for noise immunity
- or -
Replace sensor of encoder
- or -
Contact our service department, if necessary

10.2.161 C1223 Command execution impossible

Cause Remedy
An attempt was made to start command while safety While safety function STO or SBC is active, command
function "Safe torque off" (STO) or "Safe brake control" cannot be executed
(SBC) was active
An attempt was made to start command in connection with When synchronous motors are positioned without encoder,
encoderless positioning of synchronous motors command cannot be executed

10.2.162 C1224 Zero point shifting only possible in parameter mode

Cause Remedy
The command "P-0-0524, C1200 Commutation offset setting Zero point shifting: Switch the drive controller to parameter
command" was started in the operating mode. It is mode, enter the master password and restart the command.
impossible to execute the command [zero point/ Determining the commutation offset: Set "P-0-0522, Control
commutation offset shifting ("P-0-0522, Control word for word for commutation setting", bit 13="0", and restart the
commutation setting", bit 13="1")] in the operating mode command.
See also Functional Description of firmware "Commutation setting".

10.2.163 C1225 Zero point shifting only possible with master password
Cause Remedy
The command "P-0-0524, C1200 Commutation offset setting Zero point shifting: Enter the master password and restart
command" was started to shift the zero point/commutation the command.
offset ("P-0-0522, Control word for commutation setting", Determining the commutation offset: Set "P-0-0522, Control
bit 13="1"). Shifting the zero point is only possible with the word for commutation setting", bit 13="0", switch the drive
master password. controller to the operating mode and restart the command.
See also Functional Description of firmware "Commutation setting".

10.2.164 C1301 Class 1 diagnostics error at command start

The command "S-0-0149, C1300 Positive stop drive procedure command"

cannot be carried out as a class 1 diagnostics error has occurred.
See also Functional Description of firmware "Positive Stop Drive Procedure"
10.2.165 C1402 Faulty reference mark signal

While command "P-0-0014, C1400 Command Get marker position" is being

executed, the reference mark signal is checked for its permissible signal
width and the assignment to track signals. If the signal is outside the
permissible specification or disturbed, this error is generated.
Cause Remedy
Incorrect value Correct installation of the encoder sensor.

Reference mark signal disturbed Check / correct wiring and shielding of the reference mark
signal.

10.2.166 C1801 Start requires drive enable

To ensure that drive is in control when command C1800 (P-0-0162) starts,

this state is checked when command starts.
Cause Remedy
Drive enable not set at command start Set drive enable and restart command C1800
See also Functional Description of firmware "Automatic Setting of Axis

Control"
10.2.167 C1802 No useful motor data

The motor data are checked for plausibility when starting the automatic
setting of axis control (C1800).
For drive systems with Rexroth motors, while the controller is

powering up, the parameter values are loaded from encoder data
memory and power section memory.
Cause Remedy
One of the following parameters has a value ≤ "0", which For Rexroth motors with encoder data memory: Saved
would result in incorrect calculation of controller parameters: motor parameters are written by service personnel or
● "P-0-0051, Torque/force constant" replacing motor
● "P-0-0018, Number of pole pairs/pole pair distance" For Rexroth motors without encoder data memory and for
third-party motors: User writes motor parameters with
● "S-0-0110, Amplifier peak current" correct values
For faulty device type current (S-0-0110): Parameters saved
in power section are written by service personnel or
replacing device

Control"
10.2.168 C1803 Inertia detection failed

Automatic axis control setting was aborted; mass inertia (sum of rotor
moment of inertia and load moment of inertia) could not be determined.
The control word for drive optimization (P-0-0165) can be used to

parameterize whether or not the mass inertia is to be determined
with a measuring run or if the values from parameters P-0-0510
and P-0-4010 are to be used.
Mass inertia is determined with a measuring run
Cause Remedy
Drive acceleration too low Increase "P-0-0171, Drive optimization, velocity"

Reduce "P-0-0161, Drive optimization: Periodic time"
Load inertia too high Increase "S-0-0092, Bipolar torque/force limit value"
Check design of drive correct, if necessary
Motor speed too low Increase "P-0-0171, Drive optimization, velocity"
Increase "S-0-0108, Feedrate override"
Motion profile for measuring run insufficient Increase "P-0-0161, Drive optimization: Periodic time"
Mass inertia is calculated from the values P‑0‑0510 and P‑0‑4010
Cause Remedy
Sum total from P-0-0510 and P-0-4010 equal to "0" Parameterized P-0-0510 and P-0-4010

Control"
10.2.169 C1804 Automatic controller setting failed

The automatic setting of axis control has failed.
In exceptional cases, with automatic setting of axis control it is not

possible to find suitable control loop parameters that guarantee
sufficient system stability.
In this case, default or standard values are loaded in the drive.
Cause Remedy
Oscillating mechanical systems In many cases, a stable result can be achieved by restarting command C1800 with a
(resonances) larger damping factor (P-0-0163), and thus, lower dynamics.
- or - This damping factor can then still be reduced until control loop behaves as desired.
Highly noisy encoder signals If resonance frequencies of system are known, resonance positions are to be
damped with filters (P-0-1120) before starting command C1800.
Using a filter in velocity control loop can be advantageous even with very noisy
encoder signals.
Test velocity equal to "0" Parameterize "P-0-0171, Drive optimization, velocity"

Control"
10.2.170 C1805 Travel range invalid

When the automatic setting of axis control (C1800) is started, a check is

made to see of the defined travel range is sufficient or not.
Cause Remedy
Travel range defined by both limits P-0-0166 and P-0-0167 Define travel range such that it is greater than or equal to
or by P-0-0169 is too small. minimum required travel range:
● Rotary motors: 90 degrees of an electrical rotation
(elec. rotation = mechanical rotation / Number of pole
pairs)
● Linear motors: Quarter of a pole distance
Value for negative end position of drive optimization Enter meaningful values for P-0-0166 and P-0-0167.
(P-0-0166) is greater than value for positive end position
(P-0-0167)

Control"
10.2.171 C1806 Travel range exceeded

During automatic axis control setting, the defined travel range is continuously
monitored. This travel range can be defined as follows:
● Enter limits in P-0-0166 and P-0-0167
- or -
● Define a relative travel range in P-0-0169 (required for Modulo axes).
If the travel ranges is exceeded, the command error C1806 is output. The
drive remains in position control in the start position (position at command
start). Here the motion data from parameters "P-0-0171, Drive optimization,
velocity" and "P-0-0170, Drive optimization, acceleration" are taken as a
basis.
Cause Remedy
Actual position has exceeded defined travel range Increase travel range
Travel range defined for measuring run is insufficient Increase "P-0-0171, Drive optimization, velocity"
Reduce "P-0-0161, Drive optimization: Periodic time"

Control"
10.2.172 C1807 Determining travel range only via travel distance

When the travel range for the automatic axis control setting was
parameterized, the modulo scaling was not taken into account. An
unequivocal assignment of absolute end positions is not possible due to the
periodic, recurring position range with modulo scaling. This problem does not
occur if a relative travel range is specified.
Cause Remedy
There was an attempt to parameterize travel range via Set travel range by parameterizing "P-0-0169, Drive
"P-0-0166, Drive optimization, end position optimization, travel distance"
negative" / "P-0-0167, Drive optimization, end position
positive". In this case, travel range can only be
parameterized directly

10.2.173 C1808 Drive not homed

During the execution of the command "P-0-0162, C1800 Command Drive

optimization / command value box", an error occurred. It was impossible to
record the tables for cogging torque compensation.
Cause Remedy
Linear motor hasn't been homed Establish reference; then record table for cogging torque compensation
(see also Functional Description of firmware "Cogging Torque Compensation")

10.2.174 C1809 Command start only possible with active position limits
Cause Remedy
The subsequent optimization function of automatic control Activate position limit values, e.g. via bit 4 of S-0-0055, and
loop setting was started via the control panel without the restart subsequent optimization.
position limits being active.
See also Functional Description of firmware "Automatic setting of axis

control"
10.2.175 C1810 Drive optimization incorrectly configured

Cause Remedy
The configuration of at least one of the parameters Execute command "C1800 Automatic control loop setting"
P-0-0161, P-0-0164, P-0-0165, P-0-0166, P-0-0167, again via P-0-0162 or IndraWorks. See Functional
P-0-0169, P-0-0170 and P-0-0171 was changed since the Description of firmware "Automatic setting of axis control"
command "C1800 Automatic control loop setting" had been
started the last time.
Starting the automatic control loop setting via the control
panel for subsequent optimization is only possible if the
configuration of the mentioned parameters was not changed
since the command had been started the last time.
See also Functional Description of firmware "Automatic setting of axis

control"
10.2.176 C2001 Command not enabled

The execution of the command "Release motor holding brake" (C2000) was
aborted by an error.
Cause Remedy
The command can only be executed if it is alloed by bit 5 in Set bit 5 in parameter P-0-0525 to "1"
parameter "P-0-0525, Holding brake control word"
An attempt was made to start the command while safety When using an optional module "Safe Torque Off" (L
function "Safe brake control" (SBC) was active option):
While safety function "Safe brake control" (SBC) is active,
the command cannot be executed
When using an optional module "Safe Motion" (S option):
1. In P-0-3265.0.1 (configuration of safe braking and
holding function), enable the releasing of the holding
brake while safety function "Safe brake control" is
active.
2. Restart command C2000.
See also Functional Description of firmware "Motor holding brake"

10.2.177 C2101 Holding system check only possible with drive enable
It is impossible to execute the "brake check" command (C2100).
Cause Remedy
Command "P-0-0541, C2100 Brake check command" was Switch drive to "AF", then start command C2100
activated, but drive enable ("AF") had not been set.

10.2.178 C2103 Holding brake: Torque too low

When the command "P-0-0541, C2100 Holding system check command" had
been executed, the holding torque of the brake was detected to be too low.
Cause Remedy
Due to storage, brake is covered with an oxide layer. Start command "P-0-0544, C3900 Command Abrasion of
- or - holding brake" for holding system check again to reestablish
full brake torque by repeated resurfacing of holding break.
Brake is wetted with oil or grease.
If brake torque is still too low after several attempts to
- or - reestablish it, brake or motor must be replaced.
Brake is worn.


The command "P-0-0541, C2100 Holding system check command" could not
be started.
Cause Remedy
Brake control has not been activated in parameter Activate brake control in parameter "P-0-0525, Holding
"P-0-0525, Holding brake control word" brake control word"
Value in "P-0-0540, Torque of holding brake" is "0" Enter correct value for "P-0-0540, Torque of holding brake"
See also Functional Description of firmware "Holding brake"

10.2.180 C2105 Load of holding system greater than test torque

Execution of the command "P-0-0541, C2100 Holding system check

command" was aborted. The current load due to weight of the axis ("holding
system") was detected to be greater than the force or the torque with which
the blocking of the axis is checked on the drive side.
To reliably block the axis, the holding torque or the holding force
has to be greater than the load due to weight of the axis.
Therefore, the test torque or the test force has to be greater than
the load due to weight, too.
The test torque depends on the value in P-0-0547:

● MPx-07 and below: If P-0-0547 unequal "0", the test torque is the 1.3-
fold value of "P-0-0547, Nominal load of holding system".
MPx-08 and above: If P-0-0547 unequal "0", the value of the test torque
is "P-0-0553, Test torque factor for brake check" ×"P-0-0547, Nominal
load of holding system".
● If P-0-0547="0", the test torque is equal to the value entered in
"P-0-0540, Torque of holding brake".
Cause Remedy
Load due to weight is greater than nominal load which was Remedy during initial commissioning:
input (if "P-0-0547, Nominal load of holding system" is Determine load due to weight of axis and compare it to value
unequal to "0") input in "P-0-0547, Nominal load of holding system". If
necessary, correct (increase) value.
Remedy during operation of axis drive:
DANGER! Hazardous movements! Danger to life, risk of
injury, serious injury or property damage! Check why load
due to weight of axis was increased compared to initial
commissioning.
Reduce load due to weight
- or -
Determine load due to weight of axis and compare it to value
input in "P-0-0547, Nominal load of holding system". If
necessary, increase value in "P-0-0547, Nominal load of
holding system". Check drive sizing!
Load due to weight is greater than holding torque or holding Remedy during initial commissioning:
force of holding brake (if "P-0-0547, Nominal load of holding Determine load due to weight of axis and compare it to value
system"="0") of "P-0-0540, Torque of holding brake". Mount stronger
holding brake, if necessary.
DANGER! Hazardous movements! Danger to life, risk of
injury, serious injury or property damage! Check why load
due to weight of axis compared to initial commissioning is
higher than "P-0-0540, Torque of holding brake".
Reduce load due to weight
- or -
Determine load due to weight of axis and compare it to value
of "P-0-0540, Torque of holding brake". Mount stronger
holding brake, if necessary. Check drive sizing!
See also Functional Description of firmware "Holding brake"

10.2.181 C2106 Test torque of holding system not reached

The execution of the command "P-0-0541, C2100 Holding system check

command" was aborted. The holding system check detected that it is
impossible to generate the test torque required on the drive side with which
the blocking of the axis is to be tested.
The test lasts for one second with regard to the 1.3-fold value of
● "P-0-0547, Nominal load of holding system" (if P-0-0547 is unequal "0")
or
● "P-0-0540, Torque of holding brake" (if P-0-0547="0").
Cause Remedy
Static limitation of drive torque or drive force is active Check or increase static torque or force limit values so that
1.3-fold value of "P-0-0547, Nominal load of holding system"
(if P-0-0547 is unequal "0") or "P-0-0540, Torque of holding
brake" (if P-0-0547="0") is possible. By way of trial, set
maximum values, if necessary:
● "S-0-0092, Bipolar torque/force limit value"
● "S-0-0082, Torque/force limit value positive"
● "S-0-0083, Torque/force limit value negative"
● "P-0-0109, Torque/force peak limit"
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be
"P-0-0547, Nominal load of holding system" is unequal "0" effective!).
If value displayed in "P-0-0444, Actual value peak torque
limit" does not allow 1.3-fold of "P-0-0547, Nominal load of
holding system", drive is underdimensioned! Check thermal
load of motor and controller. Replace overloaded
component(s) by appropriate component(s), if necessary.
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be
"P-0-0547, Nominal load of holding system"="0" effective!).
If value displayed in "P-0-0444, Actual value peak torque
limit" does not allow 1.3-fold of "P-0-0540, Torque of holding
brake", check whether value depending on axis load can be
input in "P-0-0547, Nominal load of holding system". If not,
controller is underdimensioned! Replace controller by an
appropriate one, if necessary.
If value of "P-0-0547, Nominal load of holding system" is Remedy during initial commissioning:
unequal "0": Determine force due to weight of axis and compare it to
Input of nominal load of axis ("P-0-0547, Nominal load of value entered in "P-0-0547, Nominal load of holding
holding system") is greater than actual load due to weight. system". If "P-0-0547, Nominal load of holding system" is
This means that load current demanded from controller greater and no check for "increased holding torque or
cannot be made available for test duration. Dynamic holding force" is to be run, set (reduce) "P-0-0547, Nominal
limitation of drive torque or drive force is active load of holding system" according to load due to weight.
If check is to be run for entered value, controller is
underdimensioned; see remedy for "Dynamic limitation of
drive torque or drive force is active"
DANGER! Dangerous movements! Danger to life, risk of
injury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
- or -
Mount controller with sufficiently high continuous current,
see remedy for "Dynamic limitation of drive torque or drive
force is active"
Cause Remedy
If "P-0-0547, Nominal load of holding system"="0": Remedy during initial commissioning:
Holding torque or holding force of holding brake is greater Determine load due to weight of axis and compare it to value
than actual load due to weight of axis. of "P-0-0540, Torque of holding brake". If load due to weight
This means that load current demanded from controller requires less holding torque than "P-0-0540, Torque of
cannot be made available for test duration. Dynamic holding brake" displays and no check for "increased holding
limitation of drive torque or drive force is active torque or holding force" is to be run, enter actual load due to
weight in "P-0-0547, Nominal load of holding system". In this
way, actual axis load is checked in the future. Otherwise,
controller is underdimensioned, see remedy for "Dynamic
limitation of drive torque or drive force is active"
DANGER! Dangerous movements! Danger to life, risk of
injury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
- or -
Mount controller with sufficiently high continuous current,
see remedy for "Dynamic limitation of drive torque or drive
force is active"

10.2.182 C2108 Error when releasing the holding system

The execution of the command "P-0-0541, C2100 Holding system check

command" was aborted. An error was detected when the redundant holding
brake was released.
Cause Remedy
Incorrect control of holding system, holding system does not Check wiring
release - or -
If third-party brake was connected:
Check parameter setting
Test torque for releasing holding system set too low Increase value in parameter "P-0-0545, Test torque for
releasing holding system"
Increased breakaway torque of axis due to increased friction Remove malfunction in installation
within installation, etc.

10.2.183 C2202 Error when writing data to non-volatile memory

During the execution of the command "S-0-0264, C2200 Backup working

memory procedure command" an error occurred.
Cause Remedy
It was impossible to address active, non-volatile memory First restart command "S-0-0264, C2200 Backup working
(internal flash memory or programming module) without memory procedure command". If error occurs again, then
error. replace programming module if necessary, then restart
command. If error occurs again, contact our service
department.

10.2.184 C2301 Error when reading non-volatile memory

During the execution of the command "S-0-0263, C2300 Load working

memory procedure command" an error occurred.
Cause Remedy
It was impossible to read active, non-volatile memory Restart command. If error occurs again, contact our service
(internal flash memory or programming module) without department. Have control section checked for functional
error. safety.

10.2.185 C2302 Error when converting parameters

During the execution of the "S-0-0263, C2300 Load working memory

procedure command" an error occurred.
Cause Remedy
When reading parameters from active, non-volatile memory, Enter faulty parameter values correctly by hand and save
an error occurred. them again in non-volatile memory.

10.2.186 C2402 Error when saving parameters

During the execution of the command "S-0-0293, C2400 Selectively backup

working memory procedure command" an error occurred.
Cause Remedy
It was impossible to address active, non-volatile memory Restart command "S-0-0293, C2400 Selectively backup
(internal flash memory or programming module) without working memory procedure command". If error occurs again,
error. then replace programming module, if necessary, and restart
command. If error occurs again, contact our service
department.

10.2.187 C2801 Analog input not configured

During the execution of the command for adjusting the analog input
(P-0-0220, C2800 Analog input adjust command) an error was detected. The
execution of the command was aborted.
Cause Remedy
Command for automatic adjust of analog input was started Check parameter "P-0-0218, Analog input, control
although there hadn't any analog input been configured on parameter". In this parameter an analog input has to be
drive controller assigned for selected analog input assignment
See also Functional Description of firmware "Analog Input"

10.2.188 C2802 Oscillations of input signal outside tolerance range

The quality of the reference signal used is checked during the execution of
the command "P-0-0220, C2800 Analog input adjustment command".
Cause Remedy
The reference voltage used for amplification adjustment Check the input signal used for adjustment with regard to its
fluctuates by more than 1 % of the input voltage range accuracy; use a different calibration signal, if necessary
The input voltage for zero point adjustment is not exactly "0" Short-circuit analog inputs using a wire jumper
and fluctuates by more than 1 % of the input voltage range
See also Functional Description of firmware "Analog inputs"


10.2.189 C2803 Measured values at zero point and max. value identical
During the execution of the command "P-0-0220, C2800 Analog input adjust
command" an error was detected. The execution of the command was
aborted.
Cause Remedy
During zero point and gain adjust, the same voltage value Voltage provided at input has to be modified between two
was provided at analog input steps of adjust (voltage value for zero adjust: 0 V, voltage
value for gain adjust: maximum input voltage)
See also Functional Description of firmware "Analog Inputs"

10.2.190 C2804 Automatic adjustment failed

The command "P-0-0220, C2800 Analog input adjust command" was aborted
due to an unspecified error. Please contact our service department.
10.2.191 C3101 Act. modulo value cycle greater than max. travel range
The command error C3101 is generated when the calculated modulo value
for the actual value cycle is greater than the maximum travel range
("S-0-0278, Maximum travel range").
10.2.192 C3102 Drive is still in drive enable

Cause Remedy
Drive enable has been set and command "P-0-0071, C3100 To be able to carry out the command, drive enable has to be
Recalculate actual value cycle" was started removed

10.2.193 C3201 Incorrect input for current

While command "P-0-4033, C3200 Command Calculate motor data" was

carried out, an error was detected.
Cause Remedy
List element 1 (rated current) in "P-0-4032, Motor type plate Value for rated current must lie within following limits:
data" is outside of meaningful limits Rated current > 0,01 × Control unit peak current and
Rated current < 10 × Control unit peak current

10.2.194 C3202 Incorrect input for voltage


Cause Remedy
List element 2 (rated voltage) in "P-0-4032, Motor type plate Value for rated voltage must lie between 10 V and 2000 V
data" is outside of meaningful limits

10.2.195 C3203 Incorrect input for frequency


Cause Remedy
List element 3 (rated frequency) in "P-0-4032, Motor type Value for rated frequency must lie between 5 Hz and
plate data" is outside of meaningful limits 3000 Hz

10.2.196 C3204 Incorrect input for speed


Cause Remedy
Relationship of list element 4 (rated speed) in "P-0-4032, Correct list element 4 (rated speed) in "P-0-4032, Motor type
Motor type plate data" to rated frequency is not meaningful, plate data"
i. e. number of pole pairs cannot be calculated

10.2.197 C3205 Incorrect input for power factor


Cause Remedy
Power factor of motor is outside of meaningful limits List element 5 (power factor cos phi in "P-0-4032, Motor type
plate data" must lie between 0.5 and 0.999

10.2.198 C3206 Incorrect input for power


Cause Remedy
Relationship of list element 6 (rated power) in "P-0-4032, Correct values in "P-0-4032, Motor type plate data" and
Motor type plate data" to electrical power resulting from restart command "P-0-4033, C3200 Command Calculate
other rated data is not meaningful. motor data"
Mechanical power output must be less than effective
electrical power of the motor at measuring point because a
degree of efficiency of less than 1 is assumed. Likewise,
mechanical power output less than 40% of effective
electrical power is not plausible

10.2.199 C3207 Type plate list incomplete


Cause Remedy
List length of parameter "P-0-4032, Motor type plate data" is Please check: To calculate motor and controller parameters
less than 6 elements or at least one element has a value of from the motor type plate, a value greater than "0" must be
"0" entered in all 6 list elements of "P-0-4032, Motor type plate
data"

10.2.200 C3208 Error when writing parameters (->S-0-0423)

While the command "P-0-4033, C3200 Command Calculate motor data" was
carried out, an error occurred while writing a parameter for motor control
(e. g. violation of limit values).
Cause Remedy
At least one list element in "P-0-4032, Motor type plate data" Correct values in "P-0-4032, Motor type plate data" and
does not have a meaningful value, so that at least one restart command "P-0-4033, C3200 Command Calculate
parameter is outside of the allowable limits in calculation of motor data"
motor data.



carried out, an error occurred.
Cause Remedy
Command C3200 can only be carried out for an If an asynchronous motor is connected, parameterize
asynchronous motor "P-0-4014, Motor type" accordingly; otherwise, C3200
cannot be used

10.2.202 C3601 Motor not or not correctly connected

When the command "P-0-0565, C3600 Command Motor data identification"

is executed, measuring pulses are output to the motor. An error was detected
during the execution of the command.
Cause Remedy
Motor not connected to drive controller Connect motor

Motor not correctly connected to drive controller Check and correct motor connection
Problem when connecting voltage DC bus Check connection of voltage DC bus

Control"
10.2.203 C3602 Determined values invalid

When executing the command "P-0-0565, C3600 Command Motor data

identification" the determined values were detected to be invalid.
Cause Remedy
Type plate data not entered correctly Check values, correct them if necessary, then successively
calculate "C3200 Command Calculate data for
asynchronous motor" and start "C3600 Command Motor
data identification"

Control"
10.2.204 C3603 Device current limit too low

When executing the command "P-0-0565, C3600 Command Motor data

identification" the drive detected that the required measuring current couldn't
be generated.
Cause Remedy
Controller cannot make sufficient measuring current If possible, reduce value in "P-0-0001, Switching frequency
available of the power output stage"
- or -
use controller with higher type current

Control"

When the command "P-0-0565, C3600 Command Motor data identification"

was executed, the writing of at least one of the calculated parameters caused
a limit error.
Cause Remedy
Type plate data not entered correctly Check values, correct them if necessary, then successively
start "C3200 Command Calculate data for asynchronous
motor" and "C3600 Command Motor data identification"

Control"
10.2.206 C3605 Motor turning

The command "P-0-0565, C3600 Command Motor data identification" may

only be started when the motor is not moving. Motor motion is detected by
the possibly available motor encoder.
Cause Remedy
Command C3600 had been started when motor was still Start command C3600 when motor in standstill
moving

Control"
10.2.207 C3606 Type of construction of motor not allowed

An error occurred during the execution of the command "P-0-0565, C3600

Command Motor data identification".
Cause Remedy
MPx16: With the MPx16 firmware, C3600 can only be used for
Command C3600 was started for a synchronous motor asynchronous motors; if necessary, use "C4600 Calculate
motor control parameters"
The command for motor data identification (C3600) was Execute the command for motor data identification (C3600)
started for a linear motor with the configuration "with motor with the configuration "without motor motion" (P-0-0601)
motion"; this configuration is not possible for linear motors
The command for motor data identification (C3600) was Select an appropriate configuration for the motor in
started for a linear or synchronous motor with the P-0-0601 and restart the command C3600
configuration "determine magnetizing characteristic"; this
configuration is not possible for linear motors and
synchronous motors
See also Functional Description of firmware "Automatic setting of motor

control"
10.2.208 C3607 Motor revolution/motion impeded

Command "P-0-0565, C3600 Command Motor data identification" was

configured for a freely moving motor via "P-0-0601, Configuration motor data
identification". It was aborted unsuccessfully because the motor could not be
put into motion.
Cause Remedy
Motor jammed because it is coupled to an axis/load Check and enable mobility

Motor is not connected in delta Check three-phase motor connection
Due to high moment of inertia, drive cannot adhere to Reduce acceleration command value using "P-0-0569,
acceleration command value Maximum stator frequency slope")

Control" or "Determining the Parameter Values of Third-Party Motors"
10.2.209 C3608 Incorrect motor phases or rotational direction of encoder


aborted unsuccessfully because there was no validity of motor and motor
encoder.
Cause Remedy
2 motor phases interchanged Exchange 2 motor phases

Sense of rotation of encoder is inverted as compared with Change sense of rotation of encoder using appropriate bit in
sense of rotation of motor "S-0-0277, Position feedback 1 type"
- or -
Exchange connection of encoder tracks.
NOTE:Also check the properties with regard to the sense of
rotation of the motor encoder gear if any is available.

10.2.210 C3609 Incorrect number of pole pairs or number of encoder lines


aborted unsuccessfully because there was no validity of motor and motor
encoder.
Cause Remedy
Value in "P-0-0018, Number of pole pairs/pole pair distance" Check values in "P-0-0018, Number of pole pairs/pole pair
and encoder lines (or resolution) entered in "S-0-0116, distance" and "S-0-0116, Resolution of feedback 1", if
Resolution of feedback 1" do not match. necessary also with regard to settings for motor encoder
gear (if any) ("P-0-0121, Gear 1 motor-side (motor
encoder)" / "P-0-0122, Gear 1 encoder-side (motor
encoder)").

10.2.211 C3610 No encoder: Validation check impossible


aborted because no encoder was detected.
Cause Remedy
If not present, an encoder cannot be checked for validity of There is no remedy for motors without encoder.
its sense of rotation as compared to that of motor If the motor has an attached encoder, check proper
connection to controller. Then enter required values in
P-0-0074 (motor encoder) and P-0-0077 (motor encoder
interface)

10.2.212 C3611 Test velocity not reached


aborted because required test speed (half the nominal motor speed) could
not be reached. The nominal speed related to the nominal voltage of the
motor is too high.
Cause Remedy
If supply is unregulated [HMV (type "E", feed), HCS]: If possible, adjust line voltage until requirement is met.
Nominal motor voltage and speed are too high as compared Observe permitted line voltage range!
with line voltage (requirement: Umotor_nom < 150% ULN). - or -
Reduce nominal motor data until requirement is met.
Observe corresponding motor data (nominal speed, voltage,
power)!
If supply is regulated [HMV (type "R", feedback)]: Reduce nominal motor data until requirement is met.
Nominal motor voltage and speed are too high as compared Observe corresponding motor data (nominal speed, voltage,
with maximum output voltage of controller (requirement: power)!
Umotor_nom < 100% DC voltage of DC bus).
Motor cannot follow drive-internal velocity command value. Flatten acceleration ramp by reducing P-0-0569 accordingly;
Acceleration ramp is too steep! ramp-up time should be at least 1 second.
If synchronous motors fail to start nevertheless: Additionally
increase value in P-0-0602!


Command "P-0-0565, C3600 Command Motor data identification" could not

be started.
Cause Remedy
An attempt was made to start command while safety Deselect safety function STO and SBC
function "Safe torque off" (STO) or "Safe brake control"
(SBC) was active
As of MPx18:
Axis in "PM" Switch axis to "OM"
Errors in module bus Repair errors in module bus node(s)
E-Stop enabled Deselect the E-Stop signal
An attempt was made to start command during enabled Deselect the function to switch to normal operation
special mode [special mode "EMERGENCY STOP" (SMES),
special mode "Safe standstill" (SMST) or special mode "Safe
motion" (SMM)].
Control section ready for operation ("bb") Turn power supply on

10.2.214 C3901 Resurfacing of holding brake only possible with drive enable
It is impossible to execute the command "P-0-0544, C3900 Command

Holding brake resurfacing".
Cause Remedy
Command was activated without drive enable ("AF") having Switch drive to "AF", then start command "P-0-0544, C3900
been set Command Holding brake resurfacing"

10.2.215 C3902 Error during resurfacing of holding brake

The execution of the command "P-0-0544, C3900 Command Holding brake

resurfacing" was aborted by an error.
Cause Remedy
Torque of amplifier is reduced Remove reduction

Axis is mechanically blocked Remove mechanical blocking
Axis is at end stop or runs towards it Choose axis position such that sufficient motion is possible
Cause Remedy
Resurfacing of brake is impossible, because motor Check whether there are torque limitations active in drive or
generates less torque than holding torque of brake whether controller has been sufficiently dimensioned
Sum of load due to weight and brake torque is greater than Reduce load due to weight, if possible
motor peak torque


The command "P-0-0544, C3900 Command Holding brake resurfacing" could

not be started.
Cause Remedy
Brake control has not been activated in parameter Activate brake control in parameter "P-0-0525, Holding
"P-0-0525, Holding brake control word" brake control word"
Value in "P-0-0540, Torque of holding brake" is "0" Enter correct value for "P-0-0540, Torque of holding brake"
Velocity limit value is too low to resurface holding brake Value greater than or equal to 100 min-1 or 100 mm/min
must be parameterized in S-0-0091

10.2.217 C4001 Encoder evaluation error during Safe homing procedure

An error occurred during the execution of the command "P-0-3253.0.2, SMO:

C4000 Safe homing procedure command".
The command was not or incorrectly executed so that there is no

safe reference or position.
Cause Remedy
P-0-3256 shows the current SMO encoder evaluation status: Evaluate P-0-3256, eliminate cause of error and execute
The encoder evaluation has not been commissioned, is not command C4000 again
active or signals an error.
C4001 - Detailed diagnostics 005306F1

005406F1

10.2.218 C4002 Incorrect SMO position feedback value


Cause Remedy
SMO reference signal activated outside of expected position Eliminate cause of error and execute command C4000
window; i.e. position feedback value (P-0-3257) at that point again
of time was unequal the reference position ± tolerance
window (P-0-3253.0.3 ± P-0-3253.0.4)
Standard firmware has incorrect position data reference
Position feedback value of standard firmware incorrectly
applied (wrong point of time / wrong value)
At the time when SMO within the scope of command C4000
detects that standard firmware has been homed (S-0-0403),
it applies the position feedback value of the standard
firmware (P-0-3257 with value of S-0-0051 or S-0-0053,
maximum deviation: P-0-3253.0.4).

10.2.219 C4003 Home switch distance below minimum value


Cause Remedy
Minimum distance between home switch of standard Change parameterization or home switch arrangement so
firmware and SMO reference position was not observed that distance between home switch of standard firmware
and SMO reference position is at least as big as Safe
homing procedure tolerance window (P-0-3253.0.4),
multiplied by the factor 2.
Then execute command C4000 again.

10.2.220 C4004 Faulty SMO reference signal


Cause Remedy
SMO reference signal too short Reduce homing velocity and/or increase SMO home switch
range
SMO home switch bounces Reduce bouncing of SMO home switch, e.g. by replacing the
switch and/or modifying the homing velocity
SMO reference signal disturbed Check line routing or shield line
Oscillations on the SMO reference signal Eliminate cause of error (check wiring / connections)

00530733
00530734
00540732
00540733
00540734

10.2.221 C4101 Switching only possible without AF

During the execution of the command "S-0-0216, C4100 Switch parameter

set command" an error occurred.
Cause Remedy
Parameter set switching with parameter group "encoder Remove drive enable ("AF") before starting command
parameters" was started although axis still is in "AF"

10.2.222 C4103 Preselect parameter set forbidden value

"C4100 Switch parameter set command" couldn't be executed.
Cause Remedy
Value entered in parameter "S-0-0217, Preselect parameter Before starting "C4100 Switch parameter set command", set
set command" is greater than value in "P-0-2217, Parameter value in "S-0-0217, Preselect parameter set command" to
set switching, preselection range" valid value

10.2.223 C4104 Error during parameter set switching (->S-0-0423)

"C4100 Switch parameter set command" could not be executed.
Cause Remedy
A calculation error occurred during parameter set switching IDN of parameter which caused error is displayed in
"S-0-0423, IDN-list of invalid data for parameterization
levels". Write valid value to displayed parameter


10.2.224 C4201 Oscillation requires drive enable

During the execution of the command "S-0-0190, C4200 Drive-controlled

oscillation command" an error was detected.
Cause Remedy
At start of command, drive wasn't yet ready for power output Before starting C4200 switch power on and set drive enable

10.2.225 C4202 Oscillation command speed cannot be reached

Five seconds after the start of "C4200 Drive-controlled oscillation command"

the deviation of the actual velocity value from the oscillation start speed still is
greater than or equal to the value of "S-0-0157, Velocity window".
Cause Remedy
Value of "S-0-0157, Velocity window" is zero Set "S-0-0157, Velocity window" to valid value greater zero
Motor is blocked or speed is too low due to high degree of Check mechanical drive system for blocking or stiffness
friction

10.2.226 C4302 Distance home switch - reference mark erroneous

During the execution of the command for NC-controlled homing (C4300) an

error was detected.
The axis is equipped with a home switch connected to the controller (see
settings for home switch and reference mark in "S-0-0147, Homing
parameter").
Cause Remedy
Distance between home switch edge and next reference Read value from parameter "S-0-0298, Reference cam shift"
mark determined by controller is not inside allowed range and take it over to parameter "S-0-0299, Home switch
offset"
- or -
Shift reference cam by value of "S-0-0299, Home switch
offset"

10.2.227 C4304 Homing impossible with absolute encoder


error was detected:
NC-controlled homing is impossible with absolute measuring system.
10.2.228 C4306 Reference mark not detected


error with regard to the reference marks of the encoder was detected.
If the reference marks of the relative encoder to be homed (selected in
"S-0-0147, Homing parameter") occur cyclically over the travel range, the
position difference of the reference marks detected by the controller is
monitored. This requires the correct setting for "P-0-0153, Optimum distance
home switch-reference mark".
Cause Remedy
Reference marks do not occur in expected position Check measuring system to be homed and corresponding
difference wiring
- or -
Check and, if necessary, correct setting of "P-0-0153,
Optimum distance home switch-reference mark"
Value set in "P-0-0153, Optimum distance home switch- Correct setting of "P-0-0153, Optimum distance home
reference mark" does not match encoder that is used switch-reference mark"

10.2.229 C4307 Reference cam input not assigned

During the execution of the command "S-0-0146, C4300 NC-controlled

homing procedure command" an error was detected.
Cause Remedy
Home switch hasn't been assigned to any digital input Assign home switch ("S-0-0400, Home switch") to a digital
input via parameter "P-0-0300, Digital I/Os, assignment list"
Home switch was connected to NC but "S-0-0147, Homing Correct setting of respective bit of "S-0-0147, Homing
parameter" was incorrectly parameterized parameter"

10.2.230 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes

error was detected:
Cause Remedy
NC-controlled homing at positive stop or travel range limit Modify control information for homing in "S-0-0147, Homing
switch with modulo axes isn't a useful combination and parameter" in a useful way
therefore not allowed!


When the command "P-0-0566, C4600 Command Calculate motor control

parameters" was executed, the writing of at least one of the calculated
parameters caused a limit error.
Cause Remedy
Motor data weren't correctly entered in motor parameters Check values, correct them if necessary, then start "C4600
Command Calculate motor control parameters" again
Incorrect motor data Check motor data, if necessary consult motor manufacturer.
After entering corrected values start "C4600 Command
Calculate motor control parameters" again

Control"
10.2.232 C4801 Cogging torque compensation: Measuring vel. too high


Command Determine cogging torque compensation table".
Cause Remedy
Position command value characteristic specified by control Check position command value characteristic of control
master or command value box resulted in too high master or command value box and, if necessary, reduce
measuring velocity at motor time-dependent position command value increase; if
applicable, take available gear ratio into account.
See also"Drive-internal "command value box""

10.2.233 C4802 Cogging torque compensation: Measuring vel. too low

In the execution of command "P-0-1138, C4800 Command Determine

cogging torque compensation table", an error occurred.
Cause Remedy
master or command value box resulted in a measuring master or command value box and, if necessary, increase
velocity at motor that is too low time-dependent position command value increase; if
applicable, take available gear ratio into account.
See also "Drive-internal "Command Value Box""

10.2.234 C4803 Cogging torque compensation: Inadmissible acceleration


Cause Remedy
master or command value box resulted in too high master or command value box and, if necessary, change it
acceleration during measured value recording for cogging so that motor moves at constant velocity in measured value
torque/force compensation recording range (see "P-0-1133, Status word of cogging
torque compensation")
See also"Drive-internal "command value box""

10.2.235 C4804 Cogging torque comp.: Err. when storing corr. val table

Cause Remedy
Active non-volatile memory couldn't be addressed without Restart "P-0-1138, C4800 Command Determine cogging
error torque compensation table"; should error occur repeatedly,
please contact our service department

10.2.236 C4805 Cogging torque comp.: Motor measuring system not homed

Cause Remedy
Motor encoder (relative) of a rotary motor didn't yet have Before starting command "P-0-1138, C4800 Command
position data reference Determine cogging torque compensation table", make motor
turn until reference mark of motor encoder is read
Motor encoder (relative) of a linear motor didn't yet have Before starting command "P-0-1138, C4800 Command
position data reference Determine cogging torque compensation table", establish
position data reference

10.2.237 C4806 Cogging torque compensation: Measuring range invalid

In the execution of command "P-0-1138, C4800 Command Determine

cogging torque compensation table", an error occurred.
Special requirements apply due to the activation of bit 1 of parameter
"P-0-1131, Status word of cogging torque compensation" in order to use
cogging torque compensation with absolute position reference.
Cause Remedy
Selection of modulo position format For modulo axes, only cogging torque compensation with
relative position reference is possible.
⇒ Select cogging torque compensation with relative position
reference.
Value for lower position limit of cogging torque Parameterize value for lower position limit of cogging torque
compensation is greater than or equal to value for upper compensation such that it is less than value for upper
position limit (P-0-1145 ≥ P-0-1146). position limit (P-0-1145 < P-0-1146).

10.2.238 C4901 PLC command error no. 1


Cause Remedy
PLC program has generated "PLC command error no. 1" Check in program description to see how to react to C4901



Cause Remedy



Cause Remedy



Cause Remedy

10.2.242 C4910 PLC command timeout


program was started. The command specification was not acknowledged by
the PLC.
Cause Remedy
PLC program was not started Start PLC program and then execute "P-0-1449, C4900 PLC
command" again
An incorrect PLC program was loaded Correct PLC program, load it and then execute "P-0-1449,
C4900 PLC command" again

10.2.243 C5301 sercos: Delay measurement failed

In the execution of command "S-0-1024, C5300 sercos: SYNC delay

measuring procedure command", an error occurred or the command could
not be started.
Cause Remedy
Parameterization for execution of command is incomplete; Enter valid value in "S-0-1015, sercos: Ring delay"
measurement cannot be started
Measurement was unsuitable, because deviations in Repeat measurement
measured values were too big
Measurement was unsuitable, because topology changed Repeat measurement
during measuring process

10.2.244 C5601 Command requires drive enable

During the execution of the "P-0-0518, C5600 Command subsequent

optimization of commutation offset" an error occurred.
Cause Remedy
Command for subsequent optimization of commutation Switch drive to "AF" and then restart command "P-0-0518,
offset setting was started, but drive is not in "AF" C5600 Command subsequent optimization of commutation
offset"

10.2.245 C5602 Axis blocked

During the execution of the "P-0-0518, C5600 Command subsequent

optimization of commutation offset" an error occurred.
Cause Remedy
To successfully carry out command for subsequent Remove axis blocking and then restart command "P-0-0518,
optimization of commutation offset setting, motor/axis must C5600 Command subsequent optimization of commutation
be able to freely move by some degrees; this is not the case offset"

10.2.246 C5603 Timeout: Axis in motion

During the execution of the command "P-0-0518, C5600 Command

subsequent optimization of commutation offset", the axis must have stopped
or after motion triggered by the execution of the command, the axis must
come to standstill again. If this is impossible, the command is aborted.
Cause Remedy
External motion mechanically coupled Remove external motion; uncouple motor, if necessary
Axis has very long post-pulse oscillation Reduce oscillation time of axis, generate slight additional
friction at axis, if necessary

10.2.247 C6101 Incorrect IP settings

While command "C6100 Command Activate IP settings" is being executed

(P-0-1534 / S-0-1048), the IP settings made by the user are checked.
Cause Remedy
The settings for the IP address, network mask and gateway Correct modified settings of the IP communication for the
address for one or several interfaces do not match. relevant interfaces and execute command C6100 again.

10.2.248 C6301 Command is password-protected

In the execution of "P-0-0660, C6300 Command Generate nameplate", an

error occurred.
Cause Remedy
When nameplate data were being generated ("configurable Enter control password.
factory default values" or "application data in the encoder (The control password is determined by the manufacturer
memory" or "motor data for third-party motor") the control and is valid for the individual firmware; it is available from
password was not entered. the manufacturer only on demand).
When the nameplate data "motor data for a motor from Enter master password.
Bosch Rexroth" were generated, the master password was (The master password is determined by the manufacturer
not entered. and is exclusively available to the Bosch Rexroth
development and service staff).

C6301 - Detailed diagnostics 002700C8
002700C9

10.2.249 C6302 IDN not permissible (->S-0-0423)


error occurred.
Cause Remedy
In S-0-1300.20.3 an impermissible manufacturer code was Enter permissible manufacturer code in S-0-1300.20.3.
entered (must be >"0").
In P-0-0660.0.3 the IDN of a nameplate parameter was Determine the incorrect IDN on the basis of S-0-0423 and
entered. remove it from P-0-0660.0.3.
In P-0-0660.0.3 the IDN of a non-existent parameter was Determine the incorrect IDN on the basis of S-0-0423 and
In P-0-0660.0.3 the IDN of a write-protected parameter was Determine the incorrect IDN on the basis of S-0-0423 and
In P-0-0660.0.3 the IDN of a non-buffered parameter was Determine the incorrect IDN on the basis of S-0-0423 and
In P-0-0660.0.3 more IDNs were entered than can be Determine the incorrect IDN on the basis of S-0-0423 and
processed. remove this and the subsequent IDNs from P-0-0660.0.3
While generating the nameplate, a general error has Check configuration in P-0-0660.0.3. P-0-0660.0.129 may
occurred. contain notes on this problem.

002700CA
002700CB
002700CC
002700CD
002700CE
002700CF
002700D0
002700D2
002700D3
002700D4

10.2.250 C6303 Insufficient memory


Generate type plate command".
Cause Remedy
The data volume of the type plate to be generated is greater Reduce number of parameters in P-0-0660.0.3.
than what the selected type plate parameter can accept. TIP: The size of the type plate memory can be determined
on the basis of the maximum length of the type plate
parameter (e.g., encoder with HIPERFACE® interface:
600 bytes, encoder with EnDat® 2.1, 2.2 and ACURO®link:
2.3 kB at most, application data 1 kB)

10.2.251 C6304 Type plate unknown


error occurred.
Cause Remedy
In P-0-3100 an impermissible encoder memory version has Enter a permissible encoder memory version in P-0-3100; at
been entered. present, only encoder memory versions 4.1 to 4.6 and 7.1
are allowed.
In P-0-3100 encoder version 7.1 has been entered, but in Correct the order of the configuration parameters in
P-0-0660.0.3, P-0-3071 has not been entered as first P-0-0660.0.3.
parameter.
Enter version 4.1 to 4.6 in P-0-3100. List P-0-0660.0.3 Read S-0-0423 and remove relevant parameter from list
contains parameters that cannot be assigned to this memory P-0-0660.0.3.
version.

10.2.252 C6305 General type plate generation error

In the execution of "P-0-0660, C6300 Command Generate nameplate", a

general error occurred. For causes, please refer to detailed diagnostics.
Cause Remedy
Internal problem while saving parameters Execute command C6300 again.

If this error occurs again, please contact our service
department.

00270142

10.2.253 C6310 Command not possible with this encoder type


Cause Remedy
Encoder type plate data can only be stored for encoders Check parameterization.
with one of the following interfaces: Use appropriate encoder.
● HYPERFACE®
● EnDat® 2.1 or 2.2
● ACURO®link


10.2.254 C6311 Error when accessing encoder memory


Cause Remedy
An error occurred when the encoder memory was accessed. Check parameterization.
Replace encoder.

10.2.255 C6401 reboot command impossible

While command "S-0-1350, C6400 reboot command" was executed, an error

occurred.
Cause Remedy
At least one axis of multi-axis device fails to be in "PM" 1. Reset command

2. Switch all axes of multi-axis device to "PM"
3. Restart command

10.2.256 C6501 Error when creating machine archive

the creation of the machine archive on the external memory card.
The backup of the device data is incomplete or faulty!

Cause Remedy
Not enough available memory space on external memory Use memory card with more memory space or delete
card unrequired files from memory card, then execute command
C6500 again
External memory card was not or not correctly formatted Format memory card and execute command C6500 again.
CAUTION! When memory card is formatted, all data stored
on it is lost. Before formatting the memory card, save the
data which has been stored on it.
External memory card has not (or not completely) been Plug memory card in controller and execute command
plugged in SD card slot provided for this purpose C6500 again
External memory card is defective Check memory card and execute command C6500 again
memory card
Memory card slot in control panel is defective Check memory card slot and replace control panel, if
necessary

10.2.257 C6502 Error when reading device data

During the execution of the command C6500, an error occurred when the
backup device data of the drive controller or a CCD slave had been read.
The backup of the device data is incomplete or faulty!

Cause Remedy
Incorrect parameter access to a CCD Check cross communication (CCD) and
slave execute command C6500 again
Incorrect access to firmware of a CCD Check cross communication (CCD) and
slave execute command C6500 again
Error when starting or stopping command Check cross communication (CCD) and
C2200 execute command C6500 again

10.2.258 C6503 Inconsistent backup of machine archive

The command for archiving the device data (C6500) was terminated with
error.
Cause Remedy
Write access to one or several parameters during archiving Execute command C6500 again
procedure of device data
During archiving procedure of device data, a PLC program Execute command C6500 again
was stopped or started, this temporarily changed the value
of S-0-0531.
PLC programs should be stopped or started before
command C6500 is started.
During archiving procedure of device data, a PLC program Execute command C6500 again
was loaded to the drive

10.2.259 C6504 MLD boot project not on memory card

Archiving of a boot project in the internal flash memory is not supported.
Cause Remedy
The boot project is in the internal flash memory. Move the boot project to the memory card (see parameter
P-0-1367, bit 8).
The additional package MLD has been activated, but no Deactivate the additional package MLD (see parameter
boot project has been loaded. P-0-2003, bit 9).

10.2.260 C6601 Error when accessing machine archive

the access to the machine archive on the external memory card.

Cause Remedy
It was impossible to unpack files contained in machine Use external memory card with higher storage capacity or
archive. delete unrequired files from external memory card, then
card.
Cause Remedy
Machine archive is faulty. Check file "Backup\Archive\Backup.zip"
Error occurs with manually created or modified machine
archive, or in the case of incorrect transmission of machine
archive to external memory card.
Machine archive does not exist or has been incorrectly Check whether file "Backup\Archive\Backup.zip" generated
named by command C6500 is available
again.
external memory card and create machine archive again
(execute command C6500).

10.2.261 C6602 Error when writing device data

During the execution of the command C6600, an error occurred when the
device data had been written.

Cause Remedy
Incorrect access to a parameter of the drive controller or of a Check cross communication (CCD) and execute command
CCD slave C6600 again
- or -
Determine faulty parameter and cause of error, remove error
and execute command C6600 again.
Check cross communication (CCD) and execute command
Incorrect access to firmware of a CCD slave
C6600 again
Error when starting or stopping command C2200 Check cross communication (CCD) and execute command
C6600 again
- or -
Too many commands are active. Stop all commands
running on drive controller and on CCD slaves and execute
command C6600 again.

10.2.262 C6604 Error when reading device data

During the execution of the command C6600, an error occurred when device
data had been read.

Cause Remedy
Incorrect parameter access to the drive controller or to a Check cross communication (CCD) and execute command
- or -

10.2.263 C6605 Device data incompletely restored

During the execution of the command C6600, an error occurred; it was

impossible to restore all backup device data of the drive controller or a CCD
slave.
Cause Remedy
One or several parameters contained in machine archive are 1. Determine faulty parameter.
unknown in the drive controller or in one of the CCD slaves. 2. Check and manually correct configuration of drive
Note: This cause normally is only to be expected for a controller or CCD slave with regard to faulty
manipulated machine archive, if the individual parts of the parameter.
machine archive are incompatible. 3. Save "Backup.zip" file ("Backup\Archive" directory).
4. Execute command C6500.
⇒ Machine archive is created again!
One or several parameter values contained in machine 1. Determine faulty parameter.
archive are invalid. 2. Check and manually correct configuration of drive
Note: This cause normally is only to be expected for a controller or CCD slave with regard to faulty
manipulated machine archive, if the individual parts of the parameter.
machine archive are incompatible. 3. Save "Backup.zip" file ("Backup\Archive" directory).
4. Execute command C6500.
⇒ Machine archive is created again!
In exceptional cases, it may be necessary to write parameter
values in a certain order; this is not supported by command
C6600. In this case, repeat command C6600 until it is
completed without error.
Enabling of functional packages could not be activated Drive controller or CCD slave must be manually restarted
(command C6400)

10.2.264 C6606 PLC user program is active

Execution of command "C66" was aborted.
Restoration of stored device data was not started!
Cause Remedy
PLC has been started; in this case, a PLC application Stop PLC before starting command "C66"
program cannot be restored

10.2.265 C6701 Error when accessing update archive

During the execution of the command "C67" an error has occurred during the
access to the update archive or individual device data files.
The update of the backup device data is incomplete or faulty!


Cause Remedy
Update archive is faulty Check file of "*.zip" file type in "User\Update\Archiv"
directory
It was impossible to unpack files contained in update Use external memory card with higher storage capacity or
archive. delete not required files from external memory card, then
card.
again.
external memory card

10.2.266 C6702 Error when writing device data

During the execution of the command "C67", an error occurred when the
device data had been written.

Cause Remedy
Incorrect access to a parameter of the drive controller or of a Check cross communication (CCD) and execute command
- or -
Check cross communication (CCD) and execute command
Incorrect access to firmware of a CCD slave
C6700 again
Error when starting or stopping command C2200 Check cross communication (CCD) and execute command
C6700 again
- or -
Too many commands are active. Stop all commands
running on drive controller and on CCD slaves and execute
command C6700 again.

10.2.267 C6703 Warning - Incomplete update of device data

The update of the backup device data (command "C67") could not be
completely executed in the drive controller or in a CCD slave.

Cause Remedy
One or several parameters contained in machine archive are Undo update by calling command C6600.
unknown in the drive controller or in one of the CCD slaves. - or -
Note: This cause normally is to be expected when the 1. Determine faulty parameter.
device data in the update are incompatible with the current
drive configuration. 2. Check and manually correct configuration of drive
controller or CCD slave with regard to faulty
parameter.
One or several parameter values contained in machine Repeat command C6700.
archive are invalid. - or -
Note: This cause normally is to be expected when the Undo update by calling command C6600.
device data in the update are incompatible with the current
drive configuration. In exceptional cases, it may be - or -
necessary to write parameter values in a certain order; this 1. Determine faulty parameter.
is not supported by command C6700. 2. Check and manually correct configuration of drive
controller or CCD slave with regard to faulty
parameter.
Enabling of functional packages could not be activated Drive controller or CCD slave must be manually restarted
(command C6400)

10.2.268 C6704 Machine archive is not up-to-date

An error occurred during the execution of the command "C67".
Cause Remedy
Machine archive available on external memory card is not 1. Execute command C6500.
up-to-date. 2. Execute command C6700.
Note: The update of the device data was not started.
Additional information: To update the backup device data,
an up-to-date machine archive must be available on the
external memory card. This is required to allow you to undo
an update via the command C6600.
When exiting parameterization level, machine archive was Restore the backup device data:
checked; machine archive available on external memory 1. Execute command C6600.
card is not up-to-date.
Additional information: P-0-0668 can be parameterized in
such a way that, when exiting the parameterization level, the - or -
device data are compared to the data saved in the machine
archive; if the data do not match, this command error is Update the machine archive:
triggered. 1. Execute command C6500.

10.2.269 C6706 PLC user program is active

Execution of command "C67" was aborted.
The update of the device data was not started!
Cause Remedy
PLC has been started; in this case, a PLC application Stop PLC before starting command "C67"
program cannot be updated

10.2.270 C7001 CCD: Impossible to adjust slave addresses

An error occurred during the execution of the command "adjust slave

addresses" (P-0-1801.0.5/P-0-1635).
Cause Remedy
During execution of command C7000 and within the scope Switch CCD slaves to phase 2:
of remote address assignment, an attempt is made to write For example, switch CCD master to parameter mode
corresponding addresses of CCD slaves ("S-0-1040, Drive
address of master communication") such as parameterized - or -
in P-0-1801.0.2/P-0-1636 (CCD: Command typology). This Execute command C7400
is impossible, as CCD slaves are not in phase 2.

10.2.271 C7101 CCD: Impossible to close ring

In the execution of command "P-0-1620.0.21, C7100 CCD: Command Close

ring", an error occurred.
Cause Remedy
CCD group is not in sercos phase 4 Switch CCD group to sercos phase 4
Double ring is already existing (command execution was -
unnecessary)
There is not connection between last slaves of lines Check connection between last slaves of lines (green link
LED).
New ring delay could not be transferred to slave(s) Restart command


10.2.272 C7201 CCD: Impossible to apply I/O configuration

While the command for applying the CCD I/O configuration (P-0-1620.0.31,
C7200 CCD: Command Apply I/O configuration) was executed, an error
occurred; the CCD I/O configuration cannot be applied.
Cause Remedy
CCD group is not in sercos phase 2 Switch CCD group to sercos phase 2 using command
"P-0-1620.0.5, C7400 CCD: Switching to phase 2"

10.2.273 C7401 CCD: Impossible to switch to phase 2

An error occurred during the execution of the command for switching to the
CCD phase 2 (C7400); it is impossible to switch to the CCD phase 2.
Cause Remedy
Configured slaves were not recognized in CCD phase 0 Observe note in P-0-1810.0.10/P-0-1630 of CCD master.
Check slave configuration or connected slaves.
Master does not receive its transmitted telegrams Check sercos wiring
Switching to CCD phase 1 was not possible Observe note in P-0-1810.0.10/P-0-1630 of CCD master
Switching to CCD phase 2 was not possible Observe note in P-0-1810.0.10/P-0-1630 of CCD master

10.2.274 C7501 CCD: Impossible to switch to phase 4

An error occurred during the execution of the command for switching to the
CCD phase 4 (C7500); it is impossible to switch to the CCD phase 4.
Cause Remedy
Error occurred in timing calculation of CCD master. Maybe Observe note in P-0-1810.0.10/P-0-1630 of CCD master
sercos timing cannot be set due to number of slaves or
selected CCD mode.
An error occurred while telegram structure was checked. Observe note in P-0-1810.0.10/P-0-1630 of CCD master
Maybe, it is not possible to transmit desired parameters
cyclically or combine them in master-slave lists
Cause Remedy
Error in transition command "S-0-0127, C0100 Observe note in S-0-0021 of faulty slave
Communication phase 3 transition check" of slaves
Error in transition command "S-0-0128, C5200 Observe note in S-0-0022 of faulty slave
Communication phase 4 transition check" of slaves

10.2.275 C7601 Memory access impossible

While command "C7600 Command Create parameter image" was executed,

an error occurred; write access to external memory is not possible.
Cause Remedy
External memory not plugged or plugged incorrectly Check whether external memory is plugged correctly
External memory defective Replace external memory
Slot of external memory defective Check slot and replace drive controller/control section if
necessary
Write access to external memory denied Check for simultaneously running actions (e.g., commands
also writing to external memory) and deactivate them if
necessary

10.2.276 C7602 Slave access impossible

In the execution of command "C7600 Command Create parameter image",

an error occurred.
A slave connected in the CCD group cannot be accessed via the sercos
service channel.
Cause Remedy
CCD group configured incorrectly Check configuration

Ethernet cable between modules is missing or interrupted Check cable; replace if necessary

10.2.277 C8001 SMO: Invalid scaling parameters ->S-0-0423

In the execution of command "P-0-3220, C8000 SMO: Command Apply

scaling", an error occurred.
One or more scaling parameters are invalid. The faulty parameters were
written in "S-0-0423, IDN-list of invalid data for parameterization levels".
10.2.278 C8002 SMO: Not allowed to apply scaling


scaling", an error occurred.
The scaling parameters cannot currently be accepted.
Cause Remedy
SMO operating status is not "SMO configuration mode" Check P-0-3231 and, if necessary, activate configuration
mode (execute C8100)
Incorrect password level (≠"1") Check P-0-3230 and, if necessary, deactivate password
dependent write protection of password protected safety
technology parameters (P-0-3230.0.1)

10.2.279 C8101 SMO: Command execution impossible

In the execution of command "P-0-3231.0.1, C8100 SMO: Command

Activate configuration mode", an error occurred.
Configuration mode could not be activated.
Cause Remedy
Standstill not reached At standstill, start command again

Safety door open Close safety door and start command again

00540450

10.2.280 C8213 SMO: Incorrect parameterization

In the execution of command "P-0-3231.0.2, C8200 SMO: Command Exit

configuration mode" an error was detected while checking the safety
technology parameters.
Cause Remedy
Configuration parameters not verified Verify parameters (list of unverified parameters: P-0-3233)
Configuration parameters outside of allowed value range 1. Check and correct value
2. Verify parameters (list of unverified parameters:
P-0-3233)

10.2.281 C8214 SMO: Incorrect configuration

An error occurred during the execution of the command "P-0-3231.0.2,

C8200 SMO: Command Exit configuration mode".
The SMO parameter mode was not reached.
An incorrect configuration may have triggered the error, which is

described in a detailed diagnostics. To find out, call up the "Error/
Diagnostic Memory" dialogue in IndraWorks as follows:
1. In the function tree, select the drive for which an error was
diagnosed.
2. Open the context menu of the axis: Diagnostics ▶ Error/
Diagnostic Memory.
⇒ The "Error/Diagnostic Memory" dialog is opened.
Cause Remedy
When command C8200 is started, SMO is not in First, activate configuration mode (C8100) so that it can be
configuration mode, so command is not executed terminated
Cause Remedy
The rotation position resolution is not correct value 360 × 10Exp (Exp="0 - 7")

- or - (P-0-3335.0.3)

(P-0-3336.0.3)
and/or
mapper block type has been exceeded individually possible maximum number of instances.
IO mapper inputs: Make sure a target IDN (P-0-3330.x.4) / a target bit
A target signal (target IDN / target bit) is used more than (P-0-3330.x.5) is only used once
once
The target IDN is not allowed individually possible target IDNs.
The target bits are not allowed individually possible target bits.
Cause Remedy
C8214 - Detailed diagnostics 0053008C

0054008C

10.2.282 C8215 SMO: Incorrect encoder/scaling configuration

In earlier firmware versions the diagnostic message name was

"C8215 SMO: Error in encoder initialization".
During the execution of the command "P-0-3231.0.2, C8200 SMO: Command

Exit configuration mode" the following checks are made for initializing the
SMO encoder:
● Parameterization of the scaling setting
10.2.283 C8301 SMO: Incorrect parameter image

When the command "P-0-3231.0.3, C8300 SMO: Command Activate

parameter image" is executed, a check is made to see if the axis identifier
saved on the programming module (P-0-3235.0.1) corresponds with the axis
identifier contained in the image (P-0-3235.0.2). If this is not the case, the
command is not executed and is terminated with this error message.
Cause Remedy
Command C8300 was started without previously loading a Before executing command C8300, a parameter image must
parameter image. be loaded by loading a parameter set.
Loaded image is incompatible or defective. Load valid parameter set.
C8301 - Detailed diagnostics 005302A5

005302A6
005302BE
005402A5
005402A6
005402BE

10.2.284 C8302 SMO: Parameter image presently cannot be applied

In the execution of command "P-0-3231.0.3, C8300 SMO: Command

Activate parameter image", an error occurred.
Cause Remedy
Safety technology is active. Drive is not in "SMO 1. Switch SMO into configuration mode (execute C8100)
configuration mode" (SCM). - or -
Deactivate SMO
2. Restart C8300
C8302 - Detailed diagnostics 0053029B

0054029B

10.2.285 C8401 SMO: Impossible to apply encoder type


encoder configuration", an error occurred.
Cause Remedy
Acceptance of encoder type is not possible; encoder type Check encoder configuration, if necessary replace encoder
set in standard firmware (P-0-3242.x.1) is not permissible as or motor
a safety technology encoder (P-0-3242.x.1)

10.2.286 C8402 SMO: Impossible to apply encoder configuration


Cause Remedy
Acceptance of encoder configuration is not possible in this 1. Start command C8100 to activate SMO configuration
operating status; safety technology parameters are write- mode.
protected. 2. Set SMO password.
3. Restart command C8400 to accept encoder
configuration.

10.2.287 C8403 SMO: Parameter for applying encoder configuration invalid


Cause Remedy
At least one parameter of encoder configuration in standard Check encoder parameters of standard firmware for validity
firmware is invalid. and, in necessary, rewrite.

10.2.288 C8501 SMO: Impossible to apply axis identification

In the execution of command "P-0-3235.0.3, C8500 SMO: Command Apply

identification data", an error occurred.
Cause Remedy
P-0-3235.0.2 cannot be applied because "P-0-3235.0.4, Check "P-0-3235.0.4, SMO: Axis identification: Control
SMO: Axis identification: Control word" is configured word" and set correctly
incorrectly.
P-0-3235.0.2 cannot be applied because it is not verified. Verify P-0-3235.0.2
P-0-3235.0.2 cannot be applied because "P-0-3235.0.1, Carry out "C0720 SMO: Load defaults procedure command"
SMO: Active axis identifier" no longer has the default value.
P-0-3235.0.2 cannot be applied because identifier has too Check P-0-3235.0.2 and assign allowed character strings
few characters.
P-0-3235.0.2 cannot be applied because identifier has too
many characters.
P-0-3235.0.2 cannot be applied because identifier has same
character string as "P-0-3230.0.1, SMO: Password".
P-0-3235.0.2 SMO: Suggested axis characteristic

00530201
00530202
00530203
00530204
00530205
00540200
00540201
00540202
00540203
00540204
00540205

10.2.289 C8502 SMO: Impossible to apply TUNID

In the execution of command "P-0-3235.0.3, C8500 SMO: Command Apply

identification data", an error occurred.
Cause Remedy
Parameter S-0-1800.0.18 cannot be applied because it is Verify S-0-1800.0.18

not verified.
Parameter S-0-1800.0.18 cannot be applied because Carry out "C0720 SMO: Load defaults procedure command"
S-0-1800.0.19 no longer corresponds with default value.

00530207
00530208
005306F4
005306F5
005306F6
00540206
00540207
00540208
005406F4
005406F5
005406F6

10.2.290 C8601 SMO: Encoder evaluation is inactive

In the execution of command "P-0-3210, C8600 SMO: Command Measure

position difference", an error occurred.
Cause Remedy
Encoder evaluation is inactive; safety technology is in 1. Start command C8200 to activate SMO
configuration mode. parameterization mode. (In SMO operation mode,
encoder evaluation is also active.)
2. Restart command C8600 and then stop to measure
position difference.

10.2.291 C9101 Confirm power section configuration command error

An error occurred during the execution of the command C9100.
Cause Remedy
An error occurred when the command C9100 had been Please contact our service department; the device or an
written; the internal communication with the power section is individual component possibly needs to be replaced
disturbed


While command "S-0-0260, C9900 service function command" was

executed, an error occurred. Please contact the Bosch Rexroth customer
service.
DANGER High electrical voltage! Danger to life, risk of

injury by electric shock or serious injury!
If command C9900 is started with option "DC discharge" (P-0-0261) and
cancelled by C9901, the discharge of the intermediate circuit is not complete.
Repair the cause of the command error and make sure that no voltage
remains in the intermediate circuit!
Cause Remedy
When the command is started mains voltage is applied Disconnect the drive controller from the mains and make
sure it is disconnected permanently
While command was executed the braking resistor was Prior to starting the command do not overload the braking
overloaded resistor or allow it to cool down

Diagnostic messages of HMV01 supply units
11 Diagnostic messages of HMV01 supply units

11.1 VM Lb / A0500 Supply module in voltage control
The mains contactor has been switched in, the DC bus has been charged,
the DC bus voltage is regulated to 750 V direct voltage.
On the display of Rexroth IndraDrive supply units, the text "VM"

("Versorgungs-Modul" = supply module) precedes the diagnostic
message.
A0500 - Attributes Display: VM Lb

11.2 VM Lb / A0502 Supply module in operation

The mains contactor has been switched in, the DC bus has been charged
and is ready for power output.

message.
A0502 - Attributes Display: VM Lb

11.3 VM charg / A0503 DC bus charging active

The DC bus is presently charged to the crest value of the mains voltage ("soft
start"). When the voltage in the DC bus has reached the crest value of the
mains voltage, the mains contactor is switched in.

message.
A0503 - Attributes Display: VM charg

11.4 VM ZKS / A0520 DC bus quick discharge active

The braking resistor is presently short-circuiting the DC bus in order to
reduce the DC bus voltage as quickly as possible.
The "DC bus short circuit" function (ZKS) was activated via the
terminal strip X32 at the HMV.

message.
A0520 - Attributes Display: VM ZKS

11.5 VM AF / A0800 Unknown operating mode

There isn't any diagnostic message existing for the activated operating mode.

message.
A0800 - Attributes Display: VM AF

11.6 VM E2818 / E2818 Phase failure

A single-phase mains failure was detected. Power is not switched off unless
undervoltage occurs in the DC bus (F2026).
When the phase failure lasts for a longer time, the error "F2818
Phase failure" is generated.
Cause Remedy

E2818 - Attributes Display: VM E2818

11.7 VM E8802 / E8802 PLL is not synchronized

This diagnostic message is only displayed for HMV supply units
which have the identifier "FCN1" or "FNN1" at the position "Other
design" in the type code.
Synchronization with the mains voltage is impossible.

"Error DC bus voltage, mains failure" is signaled via the module bus and
E8802 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only
displayed for a short time.
Cause Remedy
At least one phase is missing Check mains circuit breakers and replace them, if necessary
Mains voltage is too low Measure mains voltage and compare it to allowed range of
values
Mains frequency is outside of specified range Measure mains frequency and compare it to allowed range
of values
See also documentation "Rexroth IndraDrive Supply Units and Power

Sections"
11.8 VM E8814 / E8814 Undervoltage in mains

Cause Remedy
Crest value of mains voltage has fallen below allowed Use matching transformer
minimum value (supply voltage range see documentation
"Rexroth IndraDrive Supply Units and Power Sections")

11.9 VM E8815 / E8815 Overvoltage in mains

Cause Remedy
Crest value of mains voltage has exceeded allowed Check mains voltage. If necessary, use matching
maximum value (supply voltage range see documentation transformer

11.10 VM E8818 / E8818 Phase failure

A single-phase mains failure, which lasted longer than the tolerated phase
failure time, was detected for a supply unit of the HMV type.
Supply unit Tolerated phase failure time
HMV01.1E Approx. 2s
HMV01.1R, HMV02.1R Approx. 2s
Tab. 11-1: Tolerated Phase Failure Times
Cause Remedy


11.11 VM F2802 / F2802 PLL is not synchronized

Synchronization to the mains voltage is impossible.
Cause Remedy
At least one phase is missing Check and, if necessary, replace mains circuit breakers.
Mains voltage is too low Measure mains voltage and compare it to allowed value
range.
Mains frequency is outside of specified range Measure mains frequency and compare it to allowed value
range.
F2802 - Attributes Display: VM F2802

11.12 VM F2814 / F2814 Undervoltage in mains

The crest value of the mains voltage has fallen below the allowed minimum
value (connection voltage range see documentation for HMV01.1).
Cause Remedy
Mains voltage below minimum value Use matching transformer

11.13 VM F2815 / F2815 Overvoltage in mains

Cause Remedy
Crest value of mains voltage has exceeded allowed Check mains voltage. If necessary, use matching
maximum value (supply voltage range see documentation transformer

11.14 VM F2817 / F2817 Overvoltage in power section

When the warning E8025 is present for devices of the "HMV" type, the error
"F2817 Overvoltage in power section" is generated after a certain length of
time which depends on the hardware index of the device.
From the hardware indices listed below upwards, the error F2817 is
generated 100 milliseconds after the warning E8025 has been present:
● HMV02.1R-W0015: From hardware index A09 upwards
● HMV01.1E-W0030: From hardware index A33 upwards
For devices of the "HMV" type with smaller hardware indices, the error F2817
is generated 2 seconds after the warning E8025 has occurred.
For supply units of the "HCS" type this error message does not exist.
From the mentioned hardware indices upwards, the error can only
be reset by switching the device off, in order to call attention to
possible application errors [e.g. "coasting" of a synchronous
motor at high speed (field weakening range) with a DC bus
braking resistor value inadmissibly high for the motor].
Cause Remedy
See "E8025 Overvoltage in power section" See "E8025 Overvoltage in power section"

11.15 VM F2818 / F2818 Phase failure

A single-phase mains failure, which lasted for a longer time than the tolerated
phase failure time, was detected for a supply unit of the HMV type.
Supply unit Tolerated phase failure time
HMV01.1E approx. 2 s
HMV01.1R, HMV02.1R approx. 2 s
Tab. 11-2: Tolerated phase failure times
Cause Remedy


11.16 VM F2833 / F2833 Ground fault in motor line

During the loading process of the DC bus a ground fault was detected in the
motor line of one of the connected converters/inverters.
Cause Remedy
Ground fault in a motor line within drive system Take controllers of drive system successively out of device
- or - group on control voltage and power voltage side, until error
no longer occurs. By doing this identify faulty drive.
Ground fault in a controller of drive system
Check insulation of motor cable with measuring device. If
motor cable is not defective, there is a device or connection
error.

11.17 VM F2834 / F2834 Contactor control error

The mains contactor couldn't be switched on or dropped out during operation.
Cause Remedy
Due to wiring or control error, contact "ZKS" ["DC bus short Check control. "Netz EIN" ("mains ON") has to be opened
circuit"] (X32.8) or contact "Netz AUS" ["mains OFF"] (X32.6/ simultaneously with or before "ZKS" ("DC bus short circuit")
X32.7) was opened while contact "Netz EIN" ["mains ON"] and N"etz AUS" ("mains OFF").
(X32.4/X32.5) still had been close.
Mains contactor could not be switched Check wiring of interface.
Check voltages at interfaces X32, X14 (HMV0x.xR) or at L1,
L2 and L3 (HMV0x.xE).
Contactor control has detected an error Replace device

11.18 VM F2835 / F2835 Mains contactor wiring error

For supply units of the HMV01 line which do not have an internal mains
contactor, an external mains contactor has to be controlled via X34.
Cause Remedy
No external mains contactor connected Connect mains contactor

No external switching voltage for mains contactor connected Check mains contactor wiring
External mains contactor defective Replace mains contactor
Pick-up delay of selected mains contactor too long Use mains contactor with less pick-up delay
See also documentation "Rexroth IndraDrive Supply Units and Power

Sections"
11.19 VM F2837 / F2837 Contactor monitoring error

The contactor monitor in the contactor control has detected an error.
When the diagnostic message occurs at a supply unit with

external mains contactor (e.g. HMV01.1R-W0120), it is
impossible to reset the error via the control panel, if the cause of
the message is a sticking contact of the mains contactor or the
conversion relay. In this case, you have to switch the 24V supply
off and on again after the cause of the error was removed.
Cause Remedy
Mains contactor could not be switched Check voltages

● at interface X32,
● at X14 (HMV01.1R, HMV02.1R) or at L1-L3
(HMV01.1E)
Contactor monitor has detected an error Replace device

11.20 VM F2840 / F2840 Error supply shutdown

A component in the drive system demands the shutdown of power supply.
The supply unit switches power off and signals F2840.
The supply units (as of listed hardware indices) also generate the
diagnostic message in the "Bb" state. Via the Bb1 contact1)
prevent the activation of the mains contactor.
Supply unit Hardware index (HWI)

(as per MPx05 prototype phase)
HMV01.1E-W0030 A36
HMV01.1E-W0075 A37
HMV01.1E-W0120 A40
HMV01.1R-W0018 A48
HMV01.1R-W0045 A49
HMV01.1R-W0065 A50
HMV01.1R-W0120 A09
HMV02.1R-W0015 A14
Cause Remedy
A second supply unit connected in parallel, a DC bus Remove cause of error at respective supply unit, DC bus
resistor unit or an inverter/converter signals a supply error resistor unit or inverter/converter; then clear error

1) Bb1 contact: see "Control circuits for the mains connection" in the Project Planning
Manual of the drive system and "Connection point X31" in the Project Planning
Manual of HMV supply units
11.21 VM F2860 / F2860 Overcurrent in mains-side power section

For HMV01.1R The current in the mains-side power bridge has exceeded the maximum
allowed value. The power supply is switched off.
Cause Remedy
Mains choke incorrectly connected Check mains choke

Mains choke missing or incorrectly projected Check mains choke
Mains filter missing or incorrectly projected Check mains filter

11.22 VM F2890 / F2890 Invalid device code

Cause Remedy

11.23 VM F2891 / F2891 Incorrect interrupt timing

Cause Remedy

11.24 VM F2892 / F2892 Hardware variant not supported

Cause Remedy

11.25 VM F8057 / F8057 Device overload shutdown

The device was switched off due to overload.
Cause Remedy
Power demanded by drives is too high Use drives with lower peak current
Power demanded by drives is too high Reduce allowed acceleration of axis or reduce final velocity
to which acceleration takes place

11.26 VM F8813 / F8813 Connection error mains choke

After the power supply had been switched on, a wiring error of the mains
choke (e.g. incorrect phase sequence of the mains phases) was detected.
Cause Remedy
Mains choke was incorrectly connected Check and correct connection of mains choke; connections
to mains choke must be as short as possible and twisted
→ See also documentation "Drive System, Project Planning
Manual", chapter "Connection to Mains Choke and Mains
Filter" (for an overview of reference documentations on the
drive system and the system components, see: "Reference
Documentations")

11.27 VM F9004 / F9004 Hardware trap

An internal firmware error has occurred. The device was switched off by the
firmware.
Cause Remedy
An error occurred in firmware Please contact our service department

Diagnostic display, Rexroth IndraDrive Mi
12 Diagnostic display, Rexroth IndraDrive Mi

12.1 KSM/KMS diagnostic display

12.1.1 H14 LED
Fig. 12-1: H14 LED (KSM example)

At the device, there is an LED which displays the drive status.
With the MPx-20 firmware, the color and flashing pattern of the
H14 LED were changed. For the significance of the LED please
refer to the corresponding table.
MPx-19 and below: H14 LED dis‐

plays
H14 Significance (drive status) Measures
Color / flashing
pattern 1)
Off Supply unit not switched on Check and, if necessary, switch on the 24-V
supply
Cable interrupted Check cable and connector X18
Hardware defective Replace hardware
Flashing green Drive is error-free (phases 2, 3 and 4); in If necessary, read exact status via "S-0-0095,
phase 4, drive is ready for drive enable ("Bb") Diagnostic message"
Green Power on and DC bus voltage available Drive is error-free in operation and runs according
("Ab") to inputs
Drive in control ["AF", "AH" or drive command
active (Cxxxs)]
Flashing green- Switching command active (C01xx/C02xx) If necessary, read exact status via "S-0-0095,
yellow Switching command error (C01xx/C02xx) Diagnostic message"
Firmware update running Do not interrupt the 24-V supply and do not unplug
Loader active connectors while the firmware is being updated
Drive command error (Cxxxx)

H14 Significance (drive status) Measures

Color / flashing
pattern 1)
Flashing yellow Drive warning (E2xxx … E3xxx) Read exact status via "S-0-0095, Diagnostic
message" and execute service function
Communication warning (E4xxx)
Travel range warning (E6xxx … E7xxx)
Drive controller identification
Yellow Fatal warning (E8xxx) Do not interrupt the 24-V supply and do not unplug
connectors while the firmware is being updated
Flashing red- Drive is error-free (phase 0), but not yet If necessary, read exact status via "S-0-0095,
yellow ready for drive enable ("Bb") Diagnostic message"
Drive is error-free (phase 1), but not yet

ready for drive enable ("Bb")
Communication error (F4xxx)
Flashing red- Baud rate scan (P-1) If necessary, read exact status via "S-0-0095,
green Diagnostic message"
Flashing red Error (F2xxx, F3xxx, F6xxx, F7xxx, F8xxx) Read exact status via "S-0-0095, Diagnostic
message" and execute service function
Firmware update: Repeat firmware update
Red Booting phase Wait until booting phase is over (approx. 2

minutes)
System error (F9xxx, E0800) ● Switch off and on; replace hardware, if
necessary
● Check whether the programming module is
inserted; if necessary replace KSM/KMS
crosswise to check whether the
programming module is defective
1) A square in the illustrated flashing patterns corresponds to a

time period of 250 ms.
Tab. 12-1: LED Displays H14
MPx-20 and above: H14 LED dis‐
plays
LED Significance
Color / flashing pattern 1) Measures
Off Supply unit not switched on
Check 24V supply and switch it on, if not yet done
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
Flashing green Firmware update active
● Transition command active

● PM (parameter mode)
● bb (control section ready for oper., mains
voltage not available)
● ZKS (DC bus short circuit)
● Ab (drive ready for operation, power on)
● Bb (control section and power section ready for
operation, mains voltage available)
● charg (DC bus charging active)
Green ● AH (Drive Halt)
● AF (Drive in control)
● Lb (supply unit in rectifier mode)
● LB (supply unit in voltage control)
● I LB (supply unit in current control)
Flashing red-green Bus state (e.g., not active, pre-operational, …)
Loader active
Identification
LED Significance
Flashing red Firmware update error
Repeat firmware update
● All warnings
● Command errors
Read detailed state via "S-0-0095, Diagnostic
message"
All errors (except F4xxx)
message" and carry out service function
If necessary, read detailed state via "S-0-0095,
Diagnostic message"
Red Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error (F9xxx)
● Switch off and on; replace hardware, if
necessary
● Check whether programming module has been
plugged
1) Flashing pattern: One square corresponds to a duration of
250 ms; the arrow marks the end of a cycle; abbreviations on
the squares: GN = LED permanently lit green, RD = LED per‐
manently lit red, -- = LED is off
Tab. 12-2: LED displays
12.1.2 H25 H26 LED

Use
Fig. 12-2: H25 H26 LED (KSM example)

● H25 → safety technology
● H26 → network
The significance of the network displays depends on the field bus
system.
The LEDs do not provide any reliable information on the internal

state of the device! The LEDs only provide general diagnostic
information for commissioning or troubleshooting.
H25 LED, displays

Color / flashing pattern 1) Safety technology status 3) Connection status 3)
(Safety Supervisor State / Event)
● Not active ● Not ready

● Safety bus communication not ● Safety bus communication not
Off configured configured
Active, no connection (safety default) Ready and no active connection
Flashing green
Active, at least one safe connection Ready and at least one active connection
Permanently lit green
● Waiting for TUNID 2) ● Waiting for TUNID 2)

● Self test and initialization ● Self test and initialization
Flashing red-green
● Identifying the axis identifier ● Identifying the axis identifier
Indentifying the safety technology -
Flashing red-green
TUNID 2) not yet set -
Flashing red-green
Abortion of connections Faulty abortion of at least one active
connection
Flashing red
Critical error Critical connection error
Permanently lit red

2) TUNID = Target Unique Network Identifier
3) The LED display is only active with safety bus communication
via the master communication
Tab. 12-3: LED display
H26 LED, displays

Ethernet/IP
LED: Color / flashing pattern Significance
The device does not have a valid IP address or has been switched off.
Off
The device has run up with a valid IP address, but does not have a cyclic connection.
Flashing green
The I/O connection has been established without error.

The existing I/O connection was unexpectedly aborted (e.g., watchdog).
Flashing red
The "Duplicate-IP-Adress-Check" showed that the IP address which was set already exists
in the network.
Permanently lit red

The device is running up and carries out a self test.
Flashing red-green
Tab. 12-4: Diagnostic LED

EtherCAT
LED: Color / flashing pattern 1) Significance Description
Status ● Cyclic process data and acyclic data

INIT channel are not transmitted
Off ● No error
Status Acyclic data channel is transmitted
PRE-OPERATIONAL
Flashing green
Status Acyclic data channel is transmitted
SAFE-OPERATIONAL
Green, one LED lighting up
Status Cyclic process data and acyclic data channel
OPERATIONAL are transmitted
Configuration error General EtherCAT configuration error
Flashing red
Synchronization error ● The drive controller has not been
synchronized to the EtherCAT master
Red, one LED lighting up ● Communication error of the drive
controller
Timeout - watchdog ● Timeout while cyclic process data are
monitored
Red, two LEDs lighting up ● Watchdog of the EtherCAT master

sercos III
LED: Color / flashing pattern 1) Description Prio 2)
NRT mode (no sercos communication) 3) 6
Off
CP0 (communication phase 0 active) 6
Permanently lit orange

Flashing orange-green

Transition from Fast forward to Loopback 5
Flashing green
Application error 4
(Sub-device/device error [C1D])
Flashing red-orange
MST warning 4) 3
(S-0-1045, sercos: Device Status [S-Dev], bit15)
Flashing red-green
Communication error 2
(Sub-device/device error [C1D])
Permanently lit red
Identification 1
(S-0-1044, sercos: Device Control [C-Dev], bit15)
Flashing orange
Internal watchdog 0
Flashing red

the squares: GN = LED permanently lit green, OG = LED per‐
manently lit orange, RD = LED permanently lit red, -- = LED is
off
2) Display priority (1 = highest priority); the state of the highest
priority is displayed
3) NRT = None Real Time
4) MST = Master synchronization telegram
PROFINET IO
LED: Color / flashing pattern Significance
The device does not have a valid IP address or has been switched off.
Off
The device has run up with a valid IP address, but does not have a cyclic connection.
Flashing green
The I/O connection has been established without error.

The existing I/O connection was unexpectedly aborted (e.g., watchdog).
Flashing red
The "Duplicate-IP-Adress-Check" showed that the IP address which was set already exists
in the network.
Permanently lit red

The device is running up and carries out a self test.
Flashing red-green
12.2 KCU02 Diagnostic Display
Fig. 12-3: LEDs of KCU02

LED Color / status Significance Measures
H49 Green Safety technology signals without None

Safety errors
Red Safety technology signals without Check the safety technology wiring for short-
errors circuits.
(Error is stored until the device is
turned off.)
H52.1 Off E-Stop not activated Deactivate E-Stop, if necessary
E-Stop Red E-Stop active (/E_Stop) Activate E-Stop, if necessary (see connection
point X50)
H52.2 Green Supply unit without error, regular None

Power Supply status
Red Supply unit signals errors (/Bb_V) Check power supply, see also "F2086 Error
supply module"
H52.3 Green Supply unit without warning None

Warning (/Warn), regular status
Red Supply unit signals warning Check supply unit, see also "E2086 Prewarning
supply module overload"
H52.4 Off DC bus voltage (L+; L-) too low Switch power on at supply unit
DC Bus In Module bus is not connected (if Connect the module bus (connection point X1)
H54 green)
Green DC bus voltage (L+; L-) without None
error (Ud), regular status
H52.5 Green No error at module bus, regular None

Drives status
Red Module bus error (/Bb_A) ● Check module bus wiring

● Check control voltage supply of the
devices; see also "F2087 Module group
communication error"
Red/ Drive system carries out error Bring device at module bus to readiness for
green reaction (Bb_A) operation; see also diagnostic message "E2810
Flashing Drive system not ready for operation"
H53 Green Control voltage for KSM at output None

42V Out X53 okay
Red The control voltage for KSM at Overload at output:

output X53 is faulty or control ● Check the control voltage supply
voltage is out of limits
● Check voltage at X53
Error is stored until the device is
turned off ● Reduce load
● Remove short circuit
LED Color / status Significance Measures

H54 Off DC bus (L+, L-) not ready for power None
DC Bus Out output
Green Intermediate circuit (L+, L-) ready None
for power output
Red DC bus voltage (L+; L-) at output Check fuses F4, F5 and replace them, if
X54 not okay necessary
Tab. 12-8: KCU02 LED Displays
12.3 KMV diagnostic display

12.3.1 LED H14
Fig. 12-4: LED H14

At the device, there is a bicolor LED which displays the drive status.
LED Significance
Off Supply unit not switched on
Check 24V supply and switch it on, if not yet done
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
LED Significance
Flashing green Firmware update active
● Transition command active

● PM (parameter mode)
● bb (control section ready for oper., mains
voltage not available)
● ZKS (DC bus short circuit)
● Ab (drive ready for operation, power on)
● Bb (control section and power section ready for
operation, mains voltage available)
● charg (DC bus charging active)
Green ● AH (Drive Halt)
● AF (Drive in control)
● Lb (supply unit in rectifier mode)
● LB (supply unit in voltage control)
● I LB (supply unit in current control)
Flashing red-green Bus state (e.g., not active, pre-operational, …)
Loader active
Identification
Flashing red Firmware update error

Repeat firmware update
● All warnings
● Command errors
message"
All errors (except F4xxx)
message" and carry out service function
If necessary, read detailed state via "S-0-0095,
Diagnostic message"
LED Significance
Red Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error (F9xxx)
● Switch off and on; replace hardware, if
necessary
● Check whether programming module has been
plugged
Diagnostic Display, Safety Zone Module HSZ01
13 Diagnostic Display, Safety Zone Module HSZ01

LED Color Description
H2 ● Power supply missing

Off ● Device defective
Device functions without error
Permanently lit
green
Errors present: See diagnostic display (e. g. F3152) on the drive controller
Fixing: See firmware documentation "Diag. Messages"
Flashing red
● Hardware error
● Firmware error
Permanently lit ● Communication error
red
Diagnostic display: F7033
Tab. 13-1: LED H2

Diagnostic display Optional safety technology modules "Sx"
14 Diagnostic display Optional safety technology mod‐

ules "Sx"
14.1 CSos
In case of safe bus communication via CSos, the LEDs H25 / H26 have the
following meaning:
H25 / H26 Significance

Color / flashing pattern 1)
Safety technology not active
Off
Safety technology active, no connection
(safety default)
Flashing green
Safety technology active, at least one
safe connection
● Waiting for TUNID2)

● Self test and initialization
Flashing red-green
● Identifying the axis identifier
TUNID2) not set yet
Flashing red-green
Abortion of connections
Flashing red
Indentifying the safety technology
Flashing red-green
critical safety technology error
Permanently lit red

2) TUNID = Target Unique Network Identifier
Tab. 14-1: LED display in case of safe bus communication via CSos
14.2 FSoE
In case of safe bus communication via FSoE, the LEDs H25 / H26 have the
following meaning:
Significance H25 H26
Initialization / reset
Red Off
See tab. 14-3 "FSoE status,

FSoE status Session / Connection / Parameter
detailed diagnosis " on page 504
Flashing red-green
See tab. 14-3 "FSoE status,

Data
detailed diagnosis " on page 504
Green
Indentifying the safety technology

Flashing red-green
critical safety technology error

Red
Tab. 14-2: LED display in case of safe bus communication via FSoE
H26
Meaning / cause Remedy
green
Continuous light Normal; communication ok -

Error S parameter (TwinSafe As it is very difficult to read out the
Flickers alternately with 1 pulse
parameter) flashing sample, the drive will - with
Error I parameter (individual these errors - also generate error
Flickers alternately with 2 pulses F3452.
parameters)
Check configuration and correct it, if
Flickers alternately with 5 pulses Watchdog error
necessary. If error occurs again in spite
Flickers alternately with 6 pulses CRC error of correct configuration, please contact
our service department; they can read
Flickers alternately with 7 pulses Sequence number error out the exact cause of error by means of
Flickers alternately with 8 pulses Communication error detailed diagnostics.
Tab. 14-3: FSoE status, detailed diagnosis

14.3 PROFIsafe
In case of safe bus communication via PROFIsafe, the LEDs H25 / H26 have
the following meaning:
PROFIsafe F-Device state H25 H26
PSD_INIT
Red Off
PSD_PARAM
Flashing red-green Red
Without errors
Green
Receive zero telegram from
the F-Host (all bytes of the
received telegram contain
Flashing green "0"). The telegram has been
PSD_DATEX discarded by the F-Device.
Green
F-Device passivated. Fail
Safe values are provided.
Flashing red-green
Watchdog or communication
error
Off
PSD_HARD_FAIL
Off Off
Tab. 14-4: LED display in case of safe bus communication via PROFIsafe
Diagnostic displays of additional modules for "Hxx05"
15 Diagnostic displays of additional modules for "Hxx05"

15.1 Mains connection module HNA05
LED Color/status Meaning
PF55 Green 24 V power supply applied
Off 24 V power supply < 19.2 V
PF56 Green HNA ready
Flashing green HNA ready; no mains voltage
Off HNA not ready
PF57 Yellow Charging complete (DC bus capacitance charged)
Flashing yellow Charging
Off Charging interrupted
PF58 Red Error
Flashing red Warning
Off No error, no warning

Diagnostic display of the "HAT02" holding brake control module
16 Diagnostic display of the "HAT02" holding brake con‐

trol module
HAT02.1-002
LED Significance Action Reset 1)
Off 24 V voltage is missing Check supply voltage

Green Device ready for operation
Flashing green Supply voltage (24V_Brake) outside Check supply voltage R

of tolerance range
Flashing green- Overtemperature Check ambient temperature R

yellow
Yellow Wiring error at Brake+ or Brake- Check Brake+/- wiring PO

24V_Brake outside of tolerance Check supply voltage
range during booting process
Wire break at Brake+/- Check Brake+/- wiring R
Short circuit Brake+ against 0V Check Brake+/- wiring PO
Short circuit Brake+ against Brake- Check Brake+/- wiring PO
Flashing yellow Load current too high Check current consumption at Brake+/- PO
Red Device defective Replace device PO
Flashing red Error on interface to drive controller Check XG48 wiring PO

Error in load control Check Brake+/- wiring R
Device defective Replace device PO
1) R: Reset via drive; PO: "Power Off/On"; switch supply voltage

(24V_Brake) off and on again
Tab. 16-1: LED display (HAT02.1-002)
Other Display Messages
17 Other Display Messages

Confirm SMO-Identification? The message Confirm SMO-Identification? is displayed on the drive
the SMO axis identifier or the TUNID (Target Unique Network Identifier) is to
be assigned to.
In addition, the diagnostic LEDs H25 and H26 of the connected drive blink in
the following flashing pattern: "red - green - green - red."
● Assignment of the SMO axis identifier: see application manual
"Integrated Safety Technology as of MPx-1x (Safe Motion)", index entry
"Axis identifier"
● Assignment of the TUNID: see application manual "Integrated Safety
Technology as of MPx-1x (Safe Motion)", index entry "Safety bus
communication"
Handling, diagnostic and service functions
18 Handling, diagnostic and service functions

18.1 Firmware replacement
See Application Manual "Firmware replacement"
18.2 Firmware download

After an incomplete firmware update, the drive controller possibly is no longer
operable.
Firmware replacement is carried out incompletely, if one of the following
situations occurs during the sequence of firmware replacement:
● 24V supply of control section is switched off
● Connection to drive is interrupted (e.g., defective interface cable)
● Update software / computer crashes
If there is no valid firmware available in the control section, the loader is
started. The text "LOADER IP Adresse: 192.168.0.1" appears on the display
in light writing. With the loader, it is possible to replace the firmware of the
control section.
In this situation, replacement of the control section firmware is only supported
by "IndraWorks".
Upon successful firmware replacement in the control section, a

restart has to be carried out.
18.3 Messages during firmware download

The active loader appears on the display. It precedes the download status
display:
● LD: ?????: The control section loader is active
● FL: ?????: The firmware loader is active
Explanation of the messages displayed during firmware

download:
XX: ????? = Active loader : Download status
During error-free firmware download, the following diagnostic messages are

displayed:
XX: DL
XX: ERASE
XX: PROG
XX: CKS
Firmware download via TFTP Errors occurring during firmware download via TFTP server are transmitted in
server plain text using "TFTP ErrorFrame". The table below contains an overview of
possible errors:
Message Display Significance
01: Incorrect filename in Cause: An invalid file name was given when reading
read request (ReadRequest) via TFTP.
--* Remedy: Only possible "ReadRequest" is "Firmware". With this
request, currently active firmware is read from device (cf.
S-0-0030).
02: Unknown filename in write Cause: An invalid file name was given for firmware download
request --* (WriteRequest).
Remedy: Select firmware file compatible with device.
03: Update not allowed - Axis Cause: Drive is in operating mode, firmware download is
still in OM --* impossible in this mode.
Remedy: Switch to parameter mode (PM).
04: Update not allowed - Cause: Loader presently is unavailable.
Loader unavailable --*
Remedy: Wait for a short time and restart firmware download.
05: Internal flash access An internal error has occurred.
error (driver assign) FL: E ACC Possible cause: Connection aborted
Remedy: Restart drive.
06: Internal flash access An internal error has occurred.
error (driver release) FL: E ACC Possible cause: Connection aborted
Remedy: Restart drive.
07: Error during programming Cause: Error during firmware update.
data Remedy: Restart update. If this message is transmitted again,
storage medium is defective. In this case, replace either
FL:F2100
programming module or control section.
users are allowed to replace the control section.
08: FWA file error - No valid firmware available
incorrect IBF format Cause: Firmware file selected for firmware update has no valid
FL:E FW
format.
Remedy: Select different firmware file for firmware update.
09: FWA file error - Hardware
FL:F8120 See "F8120 Invalid control section"
not supported
10: Error during data Cause: Error during data check.
verification FL:F CKS Remedy: Repeat firmware download; if error occurs again,
please contact our service department.
11: FWA file error - CRC Checksum error
checksum incorrect Cause: Checksums of programmed modules are calculated
after firmware download. Calculated and entered checksums
FL:F CKS
were detected to differ.
Remedy: Repeat firmware download; if error occurs again,
please contact our service department.
12: File error - incorrect Cause: In checking selected file, incorrect length was
data length FL:E FW determined.
Remedy: Select file with correct length.
Message Display Significance

20: FWA read not allowed - Cause: Device is in operation mode. Reading of firmware file
axis still in OM --* not allowed in this operation mode.
Remedy: Switch device to parameter mode.
21: FWA read not allowed - Cause: Download (TFTP WriteRequest) still active in device.
update active --*
Remedy: Wait for active TFTP WriteRequest to end.
22: Error reading FWA data Cause: Error during reading of firmware data
--* Remedy: Carry out firmware upload again. Contact customer
service if problem persists.
31: Update not allowed - Cause: Firmware exchange still active in device. New firmware
other update active --* download cannot be started.
Remedy: Wait for currently active firmware exchange to end.
32: File error - incorrect Cause: File selected for firmware download has no valid IBF
IBF Format FL:E FW format. Format errors were detected while data was checked.
Remedy: Select file with correct IBF format for download.
50: Axis ready for update --* Significance: Device is ready for firmware download.
52: Update of <filename> Significance: Firmware download of file <filename>
LD End
successful successfully carried out.
53: Communication timeout Cause: Firmware download ended by TFTP server due to
during update timeout. Not all data were transferred to device.
FL: E ACC
Remedy: Check Ethernet connection to device and carry out
firmware download again.
Cause: Firmware download currently active in device. Reboot
As of MPx-18
60: Reboot not

allowed - update --* not possible at this time.
active Remedy: Wait for currently active firmware download to end.
61: Reboot not Cause: Device is in operation mode. Reboot via TFTP not
allowed - device --* allowed in this operation mode.
still in OM Remedy: Switch device to parameter mode.
62: Reboot not Cause: Reboot via TFTP request only possible after firmware
allowed - no previous --* download.
update Remedy: Execute reboot using alternative option.
*: If no display is indicated (--), display has not changed: i. e. display active when error occurred remains active.
18.4 FL: DL
Brief Description: Download -> Shutdown carried out successfully
The firmware update was started successfully. Thus, the drive is in the shut-
down mode. Operation of the axis is no longer possible.
FL: DL: The firmware loader is active
LD: DL: The loader in the control section is active
The shut-down mode can only be exited by booting the drive

(switching off the drive).
18.5 FL:ERASE
Brief Description: Clearing active
The loader (FL:ERASE = firmware loader, LD:ERASE = loader in control
section) is in the clearing mode. The requested memory range / module is
being cleared.
18.6 FL: PROG

Brief Description: Programming active
The loader (FL:PROG = firmware loader, LD:PROG = loader in control
section) is in the programming mode. The transmitted data are written to the
requested address in the memory range / module.
18.7 FL: CKS

Brief Description: Checksum calculation active
The checksum calculation is active. Subsequent to the calculation a
comparison with the stored checksums is run.
"FL: CKS" means firmware loader and "LD: CKS" means loader
in control section.
18.8 FL:E FW
Brief Description: Warning: No valid firmware available
Cause Remedy
Firmware file selected for firmware update has no valid Select different firmware file for firmware update
format
FL:E FW: The firmware loader is active

LD:E FW: The loader in the control section is active
18.9 FL:E LD
Brief Description: Warning: No valid loader available
Cause Remedy
Loader contained in internal memory is defective, therefore Carry out firmware update (by means of IndraWorks or
deleting of firmware is impossible another TFTP client program)

18.10 FL:F9002
Brief Description: Error: Operating system error
See "F9002 Error internal RTOS function call"
18.11 FL:F2100
Brief Description: Error: Internal memory defective
See "F2100 Incorrect access to command value memory"
18.12 FL:F CKS

Brief Description: Error: Checksum error
Cause Remedy
Checksums of programmed modules are calculated after Carry out firmware update again; should error occur again,
firmware update. Calculated and entered checksums were please contact our service department
detected to be different
"FL:F CKS" means firmware loader and "LD:F CKS" means

loader in control section.
18.13 FL:F ACC

Brief Description: Error: Access error
Cause Remedy
An access conflict to flash memory has occurred during Start firmware update again. If error continues occurring,
firmware update drive must first be rebooted. Then start firmware update
again

18.14 FL:F8122
Brief Description: Error: Control section defective
An error occurred during firmware update.
Cause Remedy
Hardware of control section is defective Replace control section or entire drive controller; use
hardware configuration of same type

Identical cause / remedy: "F8122 Control section defective"
18.15 FL:F8120
Brief Description: Error: Firmware does not support hardware
See "F8120 Invalid control section/firmware combination"
Notes for Machine Operators
19 Notes for Machine Operators

19.1 General Information
Time-consuming debugging attempts and repair of drive components at the
machine cannot be accepted due to the production downtimes this
implicates.
The modularity of the Rexroth AC drives allows replacing individual drive
components. In case servicing becomes necessary, you can confine yourself
to locating errors at the motor, at the drive controller or at the supply unit and
to replacing the respective component.
Repeated adjustments are not required.
19.2 Diagnosing Malfunction and Removing Errors

Diagnosing Malfunction The supply unit signals operating states, warnings or errors via the display at
the front of the device.
Prerequisites for diagnosing failures are that the control voltage +24 V is
within tolerance and the processors in the supply unit and the drive
controllers are working without error.
Resetting an Error Stored error messages have to be reset before the device is ready for
operation again. An error can be reset by
● Pressing the <ESC> key at the control panel for starting the RESET
command (cf. "S-0-0099, C0500 Reset class 1 diagnostics") or
● Switching off the control voltage supply or
● RESET command via the module bus (by drive)
NOTICE Destruction of the supply unit when power is

switched on and a drive controller is
defective!
⇒ After having reset an overcurrent error and after having replaced a
defective supply unit, the error memories of the drive controllers have to be
read before the supply unit is switched on again.
Before switching power on, remove any possible short circuit in the DC bus!
Replacing Defective Drive Compo‐ If a defective component must be replaced, the following aspects have to be
nents observed:
● Only Rexroth service engineers or especially trained users are allowed
to replace the control section. The replacement of the entire drive
controller is described in the Project Planning Manual for the power
section.
● Only Rexroth service engineers are allowed to replace options of the
control section.
● The replacement of the supply unit is described in the Project Planning
Manual for the supply unit.
● In case devices fail within the warranty period, the defective
components must be returned to Bosch Rexroth; for addresses and
telephone numbers, please see the printed documentation (chapter
"Service and Support") or the Internet (http://www.boschrexroth.com).
Checks and Repairs If checks or repairs are required, the following aspects apply:
Notes for Machine Operators
● Checks and repairs may only be carried out by the Rexroth service
department or by especially trained staff.
● For checks at the installation, the corresponding safety regulations must
be complied with.
● Repair of drive components at the machine can be very time-
consuming. For this reason, replace defective drive components
completely.
WARNING Danger to persons and damage to machines

can arise from the removal of malfunction!
⇒ Only have malfunction removed by especially trained staff.
⇒ Do not put protective devices out of operation.
⇒ Observe the Safety Instructions for Electric Drives and Controls in the
homonymous chapter.
19.3 Contacting the Service Department

If you would like to contact our service department, we ask you to have the
following information ready in order to facilitate quick and purposeful
handling:
● Type data and serial numbers of devices and motors
● Failure condition
● Diagnostic displays, if available
● Drive firmware used
For addresses and telephone numbers, please see the printed
documentation (chapter "Service and Support") or the Internet (http://
www.boschrexroth.com).
Notes for installation programmers
20 Notes for installation programmers

20.1 How to handle command errors
If an error occurs during the execution of a command, the respective
command error is generated by the drive.
The are several possibilities of diagnosing a command error:
● Evaluating the command change bit in "P-0-0115, Device control: Status
word"
● Evaluating "S-0-0390, Diagnostic message number" which contains the
error message as a number (e.g., C0201)
● Evaluating "S-0-0095, Diagnostic message" which contains the error
message as an ASCII text (e.g., "C0201 Invalid parameters (-
>S-0-0423)")
● Evaluating the command status (see Functional Description of firmware
"Command processing")
A command error cannot be removed by "clearing errors", but

only by completing the corresponding command.
Fig. 20-1: Example of command handling

20.2 How to handle errors

If an error occurs while the drive is in operation, the corresponding error
reaction is carried out.
The are several possibilities of diagnosing a drive error:
● Evaluating the collective error bit (class 1 diagnostics bit) in the
respective master communication status word (e.g., "S-0-0135, Drive
status word"; "P-0-4078, Field bus: Status word")
● Evaluating "S-0-0011, Class 1 diagnostics" to obtain the detailed
information with regard to the cause of the error.
error message as a number (e.g., F6034)
● Evaluating "S-0-0095, Diagnostic message" which contains the error
message as an ASCII text (e.g., "F6034 Emergency-Stop activated")
Before a drive error is cleared, the cause for the occurrence of the
error should be investigated and permanently removed.
Fig. 20-2: Example of error handling

20.3 How to handle warnings

If a warning occurs while the drive is in operation, this diagnostic warning
message is maintained as long as the condition for the warning has been
fulfilled.
The are several possibilities of diagnosing a drive warning:
● Evaluating the collective warning bit (class 2 diagnostics bit) in the
respective master communication status word (e.g., "S-0-0135, Drive
status word"; "P-0-4078, Field bus: Status word")
● Evaluating "S-0-0012, Class 2 diagnostics" to obtain the detailed
information with regard to the cause of the warning.
warning message as a number (e.g., E2054)
● Evaluating "S-0-0095, Diagnostic message" which contains the warning
message as an ASCII text (e.g., "E2054 Not homed")
Warnings cannot be cleared. They persist until the condition that

triggered the warning is no longer fulfilled. Carry out the remedy
specified in the description of the respective warning to remove
the cause that triggered the warning.
Fig. 20-3: Example of warning handling
For drives with sercos master communication, it is only possible

to reset the collective warning bit (change bit of class 2
diagnostics) by read-accessing the parameter"S-0-0012, Class 2
diagnostics".
Service and support
21 Service and support

Our worldwide service network provides an optimized and efficient support.
Our experts offer you advice and assistance should you have any queries.
You can contact us 24/7.
Service Germany Our technology-oriented Competence Center in Lohr, Germany, is
responsible for all your service-related queries for electric drive and controls.
Contact the Service Hotline and Service Helpdesk under:
Phone: +49 9352 40 5060

Fax: +49 9352 18 4941
E-mail: service.svc@boschrexroth.de
Internet: http://www.boschrexroth.com/
Additional information on service, repair (e.g. delivery addresses) and training

can be found on our internet sites.
Service worldwide Outside Germany, please contact your local service office first. For hotline
numbers, refer to the sales office addresses on the internet.
Preparing information To be able to help you more quickly and efficiently, please have the following
information ready:
● Detailed description of malfunction and circumstances
● Type plate specifications of the affected products, in particular type
codes and serial numbers
● Your contact data (phone and fax number as well as your e-mail
address)
CiA mapping
22 CiA mapping
CiA402 number Sercos number Number Display
2120 000F8833 F8833 F8833

2181 000F2860 F2860 F2860
2310 000F8860 F8860 F8860
2380 000E8028 E8028 E8028
2381 C00E8057 E8057 E8057
2384 000F8028 F8028 F8028
3130 000F8064 F8064 F8064
3180 000E2814 E2814 E2814
3181 000F2815 F2815 F2815
3182 000F2818 F2818 F2818
3183 000F8815 F8815 F8815
3185 000F2814 F2814 F2814
3186 C00F2819 F2819 F2819
3188 000E2819 E2819 E2819
3221 C00E2026 E2026 E2026
3222 C00F2026 F2026 F2026
3223 000E2816 E2816 E2816
3280 000E2020 E2020 E2020
3281 000F2027 F2027 F2027
3282 000F8817 F8817 F8817
3284 C00E8025 E8025 E8025
3285 000E8026 E8026 E8026
3286 C00F8025 F8025 F8025
4281 000F2040 F2040 F2040
4282 000F8018 F8018 F8018
4283 000E2040 E2040 E2040
4284 C00F2018 F2018 F2018
4285 C00E2050 E2050 E2050
4286 C00E2061 E2061 E2061
4381 000E2021 E2021 E2021
4382 C00E2051 E2051 E2051
4383 C00F2019 F2019 F2019
4480 000E2086 E2086 E2086
4483 000E2811 E2811 E2811
CiA mapping

5080 000F8000 F8000 F8000
5081 000F8091 F8091 F8091
5082 000F8099 F8099 F8099
5083 000F8122 F8122 F8122
5084 000F8129 F8129 F8129
5085 000F8813 F8813 F8813
5086 000F8830 F8830 F8830
5087 000F8835 F8835 F8835
5088 000F8899 F8899 F8899
5089 000F9100 F9100 F9100
5090 000F9202 F9202 F9202
5091 000E2022 E2022 E2022
5092 000F2106 F2106 F2106
5093 000E2024 E2024 E2024
5094 000E2099 E2099 E2099
5180 000E2005 E2005 E2005
5181 000E2829 E2829 E2829
5182 000F2816 F2816 F2816
5183 C00F8069 F8069 F8069
5184 000F8836 F8836 F8836
5185 000F2001 F2001 F2001
5186 000F2836 F2836 F2836
5187 C00F8070 F8070 F8070
5188 000F2834 F2834 F2834
5189 000F8071 F8071 F8071
5480 000F2820 F2820 F2820
5481 000F8820 F8820 F8820
5482 000F2821 F2821 F2821
5483 C00F8060 F8060 F8060
5484 000F8821 F8821 F8821
5485 000F2825 F2825 F2825
5486 000F8838 F8838 F8838
5487 000E2820 E2820 E2820
6010 000F9003 F9003 F9003
6080 000F8118 F8118 F8118
6081 000F9200 F9200 F9200
CiA mapping

6082 000F8120 F8120 F8120
6083 000F9201 F9201 F9201
6089 000F8102 F8102 F8102
6180 000F9001 F9001 F9001
6181 000F9002 F9002 F9002
6183 000F9005 F9005 F9005
6380 000F2100 F2100 F2100
6381 000F8100 F8100 F8100
7080 000F8128 F8128 F8128
7182 C00E8055 E8055 E8055
7183 000F2068 F2068 F2068
7184 000F2086 F2086 F2086
7185 000F8010 F8010 F8010
7187 000F2072 F2072 F2072
7188 000F8011 F8011 F8011
718A 000F8012 F8012 F8012
718B 000F2021 F2021 F2021
718C 000F8013 F8013 F8013
718D 000F2022 F2022 F2022
718E 000F8014 F8014 F8014
718F 000F8015 F8015 F8015
7190 000F8016 F8016 F8016
7191 000F8017 F8017 F8017
7192 000F2032 F2032 F2032
7193 000F2104 F2104 F2104
7280 000F2077 F2077 F2077
7381 000E2031 E2031 E2031
7382 000F2031 F2031 F2031
7383 C00F2174 F2174 F2174
7384 000E2042 E2042 E2042
7385 C00F2175 F2175 F2175
7386 C00F8022 F8022 F8022
7387 000E2043 E2043 E2043
7388 C00F2042 F2042 F2042
7389 000F2176 F2176 F2176
738A 000F8042 F8042 F8042
CiA mapping

738B 000E2074 E2074 E2074
738C 000E2075 E2075 E2075
738D 000F2043 F2043 F2043
738E 000F2177 F2177 F2177
738F 000E2076 E2076 E2076
7390 000F2048 F2048 F2048
7391 000F2178 F2178 F2178
7392 000E2077 E2077 E2077
7393 000F2053 F2053 F2053
7394 000F2179 F2179 F2179
7395 000E2078 E2078 E2078
7396 000F2054 F2054 F2054
7397 000E2079 E2079 E2079
7398 000F2074 F2074 F2074
7399 000F2075 F2075 F2075
739A 000F2076 F2076 F2076
73A0 000F2131 F2131 F2131
7480 000F8076 F8076 F8076
7481 000F8078 F8078 F8078
7580 000F2087 F2087 F2087
7581 000F2110 F2110 F2110
7582 000F2190 F2190 F2190
7583 000F8001 F8001 F8001
7584 000F8003 F8003 F8003
7586 000F8034 F8034 F8034
7587 000F8044 F8044 F8044
7680 000F2101 F2101 F2101
7681 000F2102 F2102 F2102
7682 000F2103 F2103 F2103
7683 000F2105 F2105 F2105
7684 000F2120 F2120 F2120
8081 000F6028 F6028 F6028
8082 C00F6029 F6029 F6029
8083 C00F6030 F6030 F6030
8084 000F6024 F6024 F6024
8085 C00F6042 F6042 F6042
CiA mapping

8086 C00F6043 F6043 F6043
8087 C00F6044 F6044 F6044
8088 000F6200 F6200 F6200
8089 C00F8079 F8079 F8079
8090 C00E8042 E8042 E8042
8091 C00E8043 E8043 E8043
8092 C00E8044 E8044 E8044
8110 000F4011 F4011 F4011
8180 C30E4001 E4001 E4001
8181 C30F4003 F4003 F4003
8182 C30E4002 E4002 E4002
8183 C30F4004 F4004 F4004
8184 000E4005 E4005 E4005
8185 C30F4005 F4005 F4005
8186 000E4006 E4006 E4006
8187 030F4006 F4006 F4006
8188 C30E4007 E4007 E4007
8189 000F4009 F4009 F4009
818A C30E4010 E4010 E4010
818B 000E4011 E4011 E4011
818C C30F4017 F4017 F4017
818D C30E4020 E4020 E4020
818E C30F4020 F4020 F4020
818F C30E4040 E4040 E4040
8190 C30E4041 E4041 E4041
8191 C30E4042 E4042 E4042
8192 C30E4043 E4043 E4043
8193 C30E4044 E4044 E4044
8194 C30E4045 E4045 E4045
8195 C30E4046 E4046 E4046
8196 C30E4047 E4047 E4047
8210 000F4012 F4012 F4012
8250 C30F4002 F4002 F4002
8280 000E4008 E4008 E4008
8281 000E4009 E4009 E4009
8282 C30F4001 F4001 F4001
CiA mapping

8380 C00E2056 E2056 E2056
8381 000E8040 E8040 E8040
8382 000E8260 E8260 E8260
8480 000E2059 E2059 E2059
8481 C00E2063 E2063 E2063
8482 000E2070 E2070 E2070
8580 000E2010 E2010 E2010
8581 C00E2037 E2037 E2037
8582 C00F2028 F2028 F2028
8583 C00F2036 F2036 F2036
8584 C00F2037 F2037 F2037
8680 C00E2049 E2049 E2049
8681 000F2050 F2050 F2050
8682 C00E2053 E2053 E2053
8683 000F2051 F2051 F2051
8684 C00E2054 E2054 E2054
8685 C00F2057 F2057 F2057
8686 000F6058 F6058 F6058
8687 C00E2055 E2055 E2055
8688 000F6059 F6059 F6059
8689 000E2058 E2058 E2058
868A C00E8029 E8029 E8029
868B C00E8030 E8030 E8030
8780 000E2100 E2100 E2100
8781 000F2063 F2063 F2063
8782 000F2064 F2064 F2064
8783 000F6002 F6002 F6002
8784 000F6003 F6003 F6003
8785 000F6004 F6004 F6004
8786 000F6005 F6005 F6005
8787 000F6006 F6006 F6006
F083 060E8300 E8300 E8300
F084 000F2010 F2010 F2010
F085 000E2011 E2011 E2011
F086 000E2012 E2012 E2012
F087 000E2013 E2013 E2013
CiA mapping

F088 000E2014 E2014 E2014
F089 000E2015 E2015 E2015
F08A 000E2016 E2016 E2016
F08B 000E2017 E2017 E2017
F08C 000F2011 F2011 F2011
F08D 000F2012 F2012 F2012
F08E 000F2013 F2013 F2013
F08F 000F2014 F2014 F2014
F090 000F2015 F2015 F2015
F091 000F2016 F2016 F2016
F092 000F2017 F2017 F2017
F093 000F2055 F2055 F2055
F094 000F2067 F2067 F2067
F095 000F2270 F2270 F2270
F096 000F2802 F2802 F2802
F097 000F4016 F4016 F4016
F098 000F6007 F6007 F6007
F099 000F6010 F6010 F6010
F09A 000F4034 F4034 F4034
F09B C00F6034 F6034 F6034
F0A6 060F3010 F3010 F3010
F0A7 060F3100 F3100 F3100
F0A8 060F3101 F3101 F3101
F0A9 060F3112 F3112 F3112
F0AA 000F3115 F3115 F3115
F0AB 060F3119 F3119 F3119
F0AC 060F3131 F3131 F3131
F0AD 060F3132 F3132 F3132
F0AE 000F3134 F3134 F3134
F0AF 060F3141 F3141 F3141
F0B0 060F3142 F3142 F3142
F0B1 060F3150 F3150 F3150
F0B2 060F3151 F3151 F3151
F0B3 060F3152 F3152 F3152
F0B4 060F3153 F3153 F3153
F0B5 060F3304 F3304 F3304
CiA mapping

F0B6 060F3360 F3360 F3360
F0B7 040F3450 F3450 F3450
F0B8 000F3451 F3451 F3451
F0BA 000F4150 F4150 F4150
F0BB 060F7010 F7010 F7010
F0BC 060F7011 F7011 F7011
F0BD 060F7012 F7012 F7012
F0BE 060F7013 F7013 F7013
F0BF 060F7014 F7014 F7014
F0C0 060F7020 F7020 F7020
F0C1 060F7030 F7030 F7030
F0C2 060F7031 F7031 F7031
F0C3 060F7032 F7032 F7032
F0C4 060F7033 F7033 F7033
F0C5 060F7034 F7034 F7034
F0C6 060F7035 F7035 F7035
F0C7 060F7050 F7050 F7050
F0C8 060F7051 F7051 F7051
F0C9 060F7052 F7052 F7052
F0CA 060F7100 F7100 F7100
F0CC 000F8027 F8027 F8027
F0CD 000F8300 F8300 F8300
F0CE 000F8301 F8301 F8301
F0CF 000F8302 F8302 F8302
F0D0 000F8303 F8303 F8303
F0D1 060F8304 F8304 F8304
F0D2 060F8313 F8313 F8313
F0D3 060F8314 F8314 F8314
F0D4 060F8315 F8315 F8315
F0D5 060F8316 F8316 F8316
F0D6 060F8319 F8319 F8319
F0D7 060F8320 F8320 F8320
F0D8 060F8321 F8321 F8321
F0D9 060F8323 F8323 F8323
F0DA 060F8324 F8324 F8324
F0DB 060F8330 F8330 F8330
CiA mapping

F0DC 060F8350 F8350 F8350
F0DD 060F8351 F8351 F8351
F0DE 060F8352 F8352 F8352
F0DF 060F8353 F8353 F8353
F0E0 060F8354 F8354 F8354
F0E1 060F8355 F8355 F8355
F0E2 060F8356 F8356 F8356
F0E4 060F8359 F8359 F8359
F0E5 000F8395 F8395 F8395
F0E7 060E3112 E3112 E3112
F0E8 000E3115 E3115 E3115
F0EB 000E8027 E8027 E8027
FF01 000E2092 E2092 E2092
FF02 000E2140 E2140 E2140
FF03 000E2667 E2667 E2667
FF04 000E2810 E2810 E2810
FF09 000E4012 E4012 E4012
FF0A 000E4013 E4013 E4013
FF0B 000E4014 E4014 E4014
FF0C 000E4016 E4016 E4016
FF0D 000E4017 E4017 E4017
FF0F 000E8034 E8034 E8034
FF10 000E8058 E8058 E8058
FF11 060E8399 E8399 E8399
FF12 000F2008 F2008 RL
FF13 000F2009 F2009 PL
FF14 C00F2025 F2025 F2025
FF17 000F2150 F2150 F2150
FF18 000F2140 F2140 F2140
FF19 000F4141 F4141 F4141
FF20 000F4142 F4142 F4142
FF21 000F6140 F6140 F6140
FF22 000F8140 F8140 F8140
FF23 000F4140 F4140 F4140
Tab. 22-1: CiA mapping

Detailed diagnostics
00080001
Linear actuator with rotary scaling not admissible
The combination of linear actuator and rotary axis scaling is inadmissible in
the Mpx20
00080002
Linear actuator with rotary scaling and load-side rotary encoder 2 not
admissible
A linear actuator with rotary scaling and rotary encoder 2 is not supported
00080003
Linear actuator with rotary load-specific scaling not admissible
00080004
Rotary actuator and linear scaling with linear encoder 2 not possible
00080005
Rotary actuator and linear scaling with linear encoder 1 not possible
00080006
Rotary actuator with linear scaling with and actuator reference not possible
00080007
Rotary actuator and rotary scaling with linear encoder 2 not possible
00080008
Rotary actuator and rotary actuator-specific scaling with load-side rotary
encoder 2 not admissible
00080009
Rotary actuator and rotary scaling with actuator-side linear encoder 2 not
admissible
0008000A
Rotary actuator and rotary scaling with linear encoder 1 not possible
0008000B
Linear actuator with rotary velocity scaling not admissible
0008000C
Linear actuator with rotary acceleration scaling not admissible
0008000D
Linear actuator with linear scaling and rotary actuator encoder not admissible
000D0006
Switched off by DC deceleration
000D0007
Switched off by controlled deceleration
000D0009
Shutdown by F6 error
000D000A
Switched off by master communication error
000D000B
Switched off without error
000D000C
Switched off by F2 error
000D000D
Switched off from drive initialization
000D000E
Switched off from "drive on" delay time
000D002A
Drive switched off from "drive off" delay time
000D002C
Shutdown by F2 error
000D0034
Not all diagnostic information could be taken into the diagnostic memory
S-0-1303.0.10.
000D0035
Parameter "P-0-0477, Logbook axis number" was invalid after switching on
000D0036
Parameter "P-0-0478, Logbook event" was invalid after switching on
000D0037
Parameter "P-0-0479, Logbook time stamp" was invalid after switching on
000D0038
Setup mode activated!
000D0039
Setup mode deactivated!
000D7FFF
System time was set.
000F0005
Velocity command value > positive limit value
000F0006
Velocity command value < negative limit value
00190020
Performance load (P-0-0322) exceeds the prewarning threshold
(P-0-0322.0.2)
0019002B
Timing incorrect in the overall controller cycle, since there are too many
functions active in the position controller
001D0003
Motor load warning threshold reached (thermal model)
The load of the thermal model for monitoring the motor has reached the
prewarning threshold.
001E0002
Impossible to stop command C1600 Parking axis procedure command
001E0003
Absolute range of the commutation encoder too small
The absolute range of the encoder selected for commutation is smaller than
the polar distance and/or an electrical revolution.
001E0004
Commutation resolution encoder 1 too low
The resolution of the encoder 1 selected for commutation or motor encoder is
too low.
001E0005
Commutation resolution encoder 2 too low
The resolution of the encoder 2 selected for commutation (redundant motor
controller encoder or load-side motor controller) encoder is too low.
001E0006
Configuration of control circuit performance (P-0-0556, bit 2) changed and
optional safety technology module available.
001E0007
Configuration of FKM protocol (P-0-4089.0.1) changed.
001E0008
Configuration of standard/manufacturer-specific EtherCAT Timing changed.
001E0009
Configuration of the physical encoder type (S-0-0602.1.1) changed and
001E000A
Configuration of the IP communication (P-0-1535) changed.
001E000B
P-0-4089.0.5, FKM: Configuration has been changed.
001E000C
Configuration of the physical encoder type (S-0-0602.1.1) changed and
0022006E
Motor measurement warning threshold reached (sensor)
The motor temperature sensor shows a temperature higher than the
prewarning threshold. Note: The prewarning threshold is reduced opposite
the parameter S-0-0201 to protect the rotor against overheating at high
speed
00220070
Motor measurement warning threshold reached (sensor)
The motor temperature sensor shows a temperature higher than the
prewarning threshold. Note: The prewarning threshold is reduced opposite
the parameter S-0-0201 to protect the rotor against overheating at high
speed.
00270052
Type plate generation, current parameter set invalid for Generate type plate
command
The Generate type plate command (e.g., for encoder memory version 4) can
only be executed with parameter set 0 selected. Higher parameter sets are
not supported.
002700C8
Type plate generation: Control password has to be set
The control password has to be entered to generate type plates of the
"configurable factory default values" or "application-specific type plate in
encoder memory" types.
002700C9
Type plate generation: Master password has to be set
The master password has to be entered to generate type plates of the "BRC
motor" type.
002700CA
Type plate generation: Vendor code is not allowed
An inadmissible vendor code was detected in S-0-1300.20.3 during the
generation of a type plate of the "motor type plate" type.
002700CB
Type plate generation: Type plate contains type plate parameter
A type plate parameter was detected in the type plate configuration list during
type plate generation. This is not allowed.
002700CC
Type plate generation: Type plate contains write-protected parameter
A write-protected parameter was detected in the type plate configuration list
during type plate generation. This is not allowed.
002700CD
Type plate generation: Type plate contains unbuffered parameter
An unbuffered parameter was detected in the type plate configuration list
during type plate generation. This is not allowed.
002700CE
Type plate generation: Type plate contains unknown parameter
A parameter that is nonexistent or masked in the present configuration was

detected in the type plate configuration list during type plate generation. This
is not allowed.
002700CF
Type plate generation: Type plate generation error (->P-0-0660.0.129)
A type plate generation error was detected. For diagnostics see
P-0-0660.0.129.
002700D0
Type plate generation: too many IDNs in the configuration
More IDNs than can be processed were listed in the type plate configuration
list during type plate generation.
002700D2
is not allowed.
002700D3
is not allowed.
002700D4
Type plate generation: Unknown type plate parameter.
A parameter not representing an allowed type plate was detected in the type
plate configuration list during type plate generation.
00270141
Error when buffering P-0-0660.0.1
Impossible to buffer the parameter "P-0-0660.0.1" within the "Generate type
plate" command.
00270142
Error when buffering P-0-0660.0.1
Impossible to buffer the parameter "P-0-0660.0.1" within the "Generate type
plate" command.
002A0012
Control loop default values incorrectly calculated
The control loop parameters are calculated from the values for commutation
choke and the DC bus capacitance when the DC bus is charged. The
calculation was incorrect. Possible cause: The inductance or capacitance
was too small.
002A0015
Control loop default values not recalculated
The control loop default values were not recalculated, because the
capacitance deviation from the last measurement was smaller than 30%.
00330016
Parameter "P-0-0198, System time error time" was invalid after switching on
00330017
Parameter "P-0-0199, System time error number" was invalid after switching
on
00340003
Output frequency > 599 Hz
Deactivation of the control if the output frequency is > 599 Hz
00370025
PLC project is incompatible with firmware and has not been loaded.
Please adjust the device version in the project. If it is impossible to select the
appropriate device version, you need a more recent IndraWorks version or an
installable device that can be provided by our Support as an IW package.
00370027
Memory card for boot project is not available
Storage of the boot project on memory card has been activated in the MLD
configuration (P-0-1367), but no memory card was found.
00370028
Stepper1: Conversion factor position stepper format to position display format
is >= 1.
00370029
is >= 1.
0037002A
is >= 1.
0037002B
is >= 1.
0037002C
is >= 1.
0037002D
is >= 1.
00370032
Stepper1: "S-0-0278.1.0, Maximum travel range" outside of value range
00370033
00370034
00370035
00370036
00370037
0037003C
Stepper1: "S-0-0103.1.0, Modulo value" outside of value range
0037003D
0037003E
0037003F
00370040
00370041
00370042
Overload on the 24V electronic supply
00370043
Overvoltage on the power supply
00370044
Overvoltage on the power supply
00370045
The voltage on the 24 V safe supply is not available or too low
00370046
A voltage is supplied “backwards" via the outputs
00370047
SOFT_ERROR error when loading the intermediate circuit (short circuit,
timeout)
003A0064
Normal operation (NO) activated.
003A0065
Parking axis activated.
003A0066
PM activated.
003A0067
Drive is in SCM.
003A0517
Encoder function inadmissibly parameterized, see S-0-0423
003A06AB
The configuration for the safety bus (P-0-3345) requires a different master
communication bus protocol (P-0-4089.0.1)
003A06F7
Parameter implausible (S-0-0055 to P-0-3221.0.1 / S-0-0076 to
P-0-3222.0.1 / S-0-0078 to P-0-3222.0.2 / S-0-0079 to P-0-3222.0.3)
003A0735
Circuit board combination ICS1x and STZ not suitable
003C001F
Incorrect master axis configuration (P-0-1820.0.1 / P-0-1820.0.2)
00500081
Inadmissible SSI encoder baud rate: Interface 1
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500082
00500083
00500084
00500085
00500086
00500091
00500092
00500093
00500094
00500095
00500096
00500121
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
1
00500122
2
00500123
3
00500124
4
00500125
5
00500126
6
00500131
101
00500132
102
00500133
103
00500134
104
00500135
105
00500136
106
00500140
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 0
00500141
00500142
00500143
00500144
00500145
00500146
00500147
0050014C
00500150
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
100
00500151
101
00500152
102
00500153
103
00500154
104
00500155
105
00500156
106
005002C1
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 1
005002C2
005002C3
005002C4
005002C5
005002C6
005002D1
005002D2
005002D3
005002D4
005002D5
005002D6
005002E1
005002E2
005002E3
005002E4
005002E5
005002E6
005002F1
005002F2
005002F3
005002F4
005002F5
005002F6
00500321
00500322
00500323
00500324
00500325
00500326
00500331
00500332
00500333
00500334
00500335
00500336
00500341
00500342
00500343
00500344
00500345
00500346
00500351
00500352
00500353
00500354
00500355
00500356
00500DE0
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 0
00500DE1
Interface 1
00500DE2
Interface 2
00500DE3
Interface 3
00500DE4
Interface 4
00500DE5
Interface 5
00500DE6
Interface 6
00500DF1
Interface 101
00500DF2
Interface 102
00500DF3
Interface 103
00500DF4
Interface 104
00500DF5
Interface 105
00500DF6
Interface 106
00500E00
Interface 0
00500E01
Interface 1
00500E02
Interface 2
00500E03
Interface 3
00500E04
Interface 4
00500E05
Interface 5
00500E06
Interface 6
00500E11
Interface 101
00500E12
Interface 102
00500E13
Interface 103
00500E14
Interface 104
00500E15
Interface 105
00500E16
Interface 106
00500E20
Interface 0
00500E21
Interface 1
00500E22
Interface 2
00500E23
Interface 3
00500E24
Interface 4
00500E25
Interface 5
00500E26
Interface 6
00500E31
Interface 101
00500E32
Interface 102
00500E33
Interface 103
00500E34
Interface 104
00500E35
Interface 105
00500E36
Interface 106
00500E40
Interface 0
00500E41
Interface 1
00500E42
Interface 2
00500E43
Interface 3
00500E44
Interface 4
00500E45
Interface 5
00500E46
Interface 6
00500E51
Interface 101
00500E52
Interface 102
00500E53
Interface 103
00500E54
Interface 104
00500E55
Interface 105
00500E56
Interface 106
005011C0
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 0
005011C1
Interface 1
005011C2
Interface 2
005011C3
Interface 3
005011C4
Interface 4
005011C5
Interface 5
005011C6
Interface 6
005011D1
Interface 101
005011D2
Interface 102
005011D3
Interface 103
005011D4
Interface 104
005011D5
Interface 105
005011D6
Interface 106
005017C0
TTL encoder: Resolution cannot be displayed in binary form (interface 0)
005017C1
005017C2
005017C3
005017C4
005017C5
005017C6
005017D1
005017D2
005017D3
005017D4
005017D5
005017D6
00501880
TTL encoder: Quadrant error (interface 0)
00501881
00501882
00501883
00501884
00501885
00501886
00501891
00501892
00501893
00501894
00501895
00501896
005018A0
TTL encoder: Wire break detected (interface 0)
005018A1
005018A2
005018A3
005018A4
005018A5
005018A6
005018B1
005018B2
005018B3
005018B4
005018B5
005018B6
005018C0
005018C1
005018C2
005018C3
005018C4
005018C5
005018C6
005018D1
005018D2
005018D3
005018D4
005018D5
005018D6
005018E0
EnDat 2.1 encoder: Rotational direction of analog signals (S-0-0602.x.2, bit
3) is not valid for these encoders. Set bit to 0 (interface 0)
005018E1
005018E2
005018E3
005018E4
005018E5
005018E6
005018F1
005018F2
005018F3
005018F4
005018F5
005018F6
00501900
00501901
00501902
00501903
00501904
00501905
00501906
00501911
00501912
00501913
00501914
00501915
00501916
00501920
HIPERFACE encoder: Rotational direction of analog signals (S-0-0602.x.2,
bit 3) is not valid for these encoders. Set bit to 0 (interface 0)
00501921
00501922
00501923
00501924
00501925
00501926
00501931
00501932
00501933
00501934
00501935
00501936
00501940
MSM encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3) is
not valid for these encoders. Set bit to 0 (interface 0)
00501941
00501942
00501943
00501944
00501945
00501946
00501951
00501952
00501953
00501954
00501955
00501956
00501960
Resolver encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3)
is not valid for these encoders. Set bit to 0 (interface 0)
00501961
00501962
00501963
00501964
00501965
00501966
00501971
00501972
00501973
00501974
00501975
00501976
00501980
ACUROlink encoder: Rotational direction of analog signals (S-0-0602.x.2, bit
00501981
00501982
00501983
00501984
00501985
00501986
00501991
00501992
00501993
00501994
00501995
00501996
005019A0
Sine encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3) is
005019A1
005019A2
005019A3
005019A4
005019A5
005019A6
005019B1
005019B2
005019B3
005019B4
005019B5
005019B6
005019C0
SSI encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3) is not
valid for these encoders. Set bit to 0 (interface 0)
005019C1
005019C2
005019C3
005019C4
005019C5
005019C6
005019D1
005019D2
005019D3
005019D4
005019D5
005019D6
005019E0
SSI sine encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3)
005019E1
005019E2
005019E3
005019E4
005019E5
005019E6
005019F1
005019F2
005019F3
005019F4
005019F5
005019F6
00501A00
TTL encoder: Rotational direction of analog signals (S-0-0602.x.2, bit 3) is
00501A01
00501A02
00501A03
00501A04
00501A05
00501A06
00501A11
00501A12
00501A13
00501A14
00501A15
00501A16
00501A20
EnDat 2.1 encoder: Resolution cannot be displayed in binary form (interface
0)
00501A21
1)
00501A22
2)
00501A23
3)
00501A24
4)
00501A25
5)
00501A26
6)
00501A31
101)
00501A32
102)
00501A33
103)
00501A34
104)
00501A35
105)
00501A36
106)
00501A40
0)
00501A41
1)
00501A42
2)
00501A43
3)
00501A44
4)
00501A45
5)
00501A46
6)
00501A51
101)
00501A52
102)
00501A53
103)
00501A54
104)
00501A55
105)
00501A56
105)
00501A60
HIPERFACE encoder: Resolution cannot be displayed in binary form
(interface 0)
00501A61
(interface 1)
00501A62
(interface 2)
00501A63
(interface 3)
00501A64
(interface 4)
00501A65
(interface 5)
00501A66
(interface 6)
00501A71
(interface 101)
00501A72
(interface 102)
00501A73
(interface 103)
00501A74
(interface 104)
00501A75
(interface 105)
00501A76
(interface 106)
00501A80
Resolver encoder: Resolution cannot be displayed in binary form (interface 0)
00501A81
00501A82
00501A83
00501A84
00501A85
00501A86
00501A91
Resolver encoder: Resolution cannot be displayed in binary form (interface
101)
00501A92
102)
00501A93
103)
00501A94
104)
00501A95
105)
00501A96
106)
00501AA0
ACUROlink encoder: Resolution cannot be displayed in binary form (interface
0)
00501AA1
1)
00501AA2
2)
00501AA3
3)
00501AA4
4)
00501AA5
5)
00501AA6
6)
00501AB1
101)
00501AB2
102)
00501AB3
103)
00501AB4
104)
00501AB5
105)
00501AB6
106)
00501AC0
SSI encoder: Resolution cannot be displayed in binary form (interface 0)
00501AC1
00501AC2
00501AC3
00501AC4
00501AC5
00501AC6
00501AD1
00501AD2
00501AD3
00501AD4
00501AD5
00501AD6
SSI encoder: Resolution cannot be displayed in binary format (interface 106
00501AE0
SSI sine encoder: Resolution cannot be displayed in binary form (interface 0)
00501AE1
00501AE2
00501AE3
00501AE4
00501AE5
00501AE6
00501AF1
SSI sine encoder: Resolution cannot be displayed in binary form (interface
101)
00501AF2
102)
00501AF3
103)
00501AF4
104)
00501AF5
105)
00501AF6
106)
00501B00
EnDat 2.1 encoder: The configuration does not constitute an increase of the
singleturn resolution (interface 0)
00501B01
00501B02
00501B03
00501B04
00501B05
00501B06
00501B11
00501B12
00501B13
00501B14
00501B15
00501B16
00501B20
00501B21
00501B22
00501B23
00501B24
00501B25
00501B26
00501B31
00501B32
00501B33
00501B34
00501B35
00501B36
00501B40
HIPERFACE encoder: The configuration does not constitute an increase of
the singleturn resolution (interface 0)
00501B41
00501B42
00501B43
00501B44
00501B45
00501B46
00501B51
00501B52
00501B53
00501B54
00501B55
00501B56
00501B60
MSM encoder: The configuration does not constitute an increase of the
00501B61
00501B62
00501B63
00501B64
00501B65
00501B66
00501B71
00501B72
00501B73
00501B74
00501B75
00501B76
00501B80
Resolver encoder: The configuration does not constitute an increase of the
00501B81
00501B82
00501B83
00501B84
00501B85
00501B86
00501B91
00501B92
00501B93
00501B94
00501B95
00501B96
00501BA0
ACUROlink encoder: The configuration does not constitute an increase of the
00501BA1
00501BA2
00501BA3
00501BA4
00501BA5
00501BA6
00501BB1
00501BB2
00501BB3
00501BB4
00501BB5
00501BB6
00501BC0
Sine encoder: The configuration does not constitute an increase of the
00501BC1
00501BC2
00501BC3
00501BC4
00501BC5
00501BC6
00501BD1
00501BD2
00501BD3
00501BD4
00501BD5
00501BD6
00501BE0
SSI encoder: The configuration does not constitute an increase of the
00501BE1
00501BE2
00501BE3
00501BE4
00501BE5
00501BE6
00501BF1
00501BF2
00501BF3
00501BF4
00501BF5
00501BF6
00501C00
SSI sine encoder: The configuration does not constitute an increase of the
00501C01
00501C02
00501C03
00501C04
00501C05
00501C06
00501C11
00501C12
00501C13
00501C14
00501C15
00501C16
00501C20
TTL encoder: The configuration does not constitute an increase of the
00501C21
00501C22
00501C23
00501C24
00501C25
00501C26
00501C31
00501C32
00501C33
00501C34
00501C35
00501C36
00501D20
Amplitude error resolver encoder (interface 0)
00501D21
00501D22
00501D23
00501D24
00501D25
00501D26
00501D31
00501D32
00501D33
00501D34
00501D35
00501D36
00501EA0
00501EA1
00501EA2
00501EA3
00501EA4
00501EA5
00501EA6
00501EB1
00501EB2
00501EB3
00501EB4
00501EB5
00501EB6
00501EC0
00501EC1
00501EC2
00501EC3
00501EC4
00501EC5
00501EC6
00501ED1
00501ED2
00501ED3
00501ED4
00501ED5
00501ED6
00501EE0
00501EE1
00501EE2
00501EE3
00501EE4
00501EE5
00501EE6
00501EF1
00501EF2
00501EF3
00501EF4
00501EF5
00501EF6
00501F00
MSM encoder: Linear encoders are not supported (interface 0)
00501F01
00501F02
00501F03
00501F04
00501F05
00501F06
00501F11
00501F12
00501F13
00501F14
00501F15
00501F16
00501F20
Resolver encoder: Linear encoders are not supported (interface 0)
00501F21
00501F22
00501F23
00501F24
00501F25
00501F26
00501F31
00501F32
00501F33
00501F34
00501F35
00501F36
00501F40
00501F41
00501F42
00501F43
00501F44
00501F45
00501F46
00501F51
00501F52
00501F53
00501F54
00501F55
00501F56
00501F60
00501F61
00501F62
00501F63
00501F64
00501F65
00501F66
00501F71
00501F72
00501F73
00501F74
00501F75
00501F76
00501F80
00501F81
00501F82
00501F83
00501F84
00501F85
00501F86
00501F91
00501F92
00501F93
00501F94
00501F95
00501F96
00501FA0
00501FA1
00501FA2
00501FA3
00501FA4
00501FA5
00501FA6
00501FB1
00501FB2
00501FB3
00501FB4
00501FB5
00501FB6
00501FC0
EnDat2.2 encoder: Maximum resolution reached, increase of resolution not
possible (interface 0)
00501FC1
00501FC2
00501FC3
00501FC4
00501FC5
00501FC6
00501FD1
00501FD2
00501FD3
00501FD4
00501FD5
00501FD6
00501FE0
ACUROlink encoder: Maximum resolution reached, increase of resolution not
00501FE1
00501FE2
00501FE3
00501FE4
00501FE5
00501FE6
00501FF1
00501FF2
00501FF3
00501FF4
00501FF5
00501FF6
00508160
Encoder line is not okay SSI encoder: Interface 0
00508161
00508162
00508163
00508164
00508165
00508166
00508171
00508172
00508173
00508174
00508175
00508176
005082C0
SSI encoder, encoder error bit has been set: Interface 0
005082C1
005082C2
005082C3
005082C4
005082C5
005082C6
005082D1
005082D2
005082D3
005082D4
005082D5
005082D6
00508320
SSI sine encoder: Error in physical configuration (interface 0)
00508321
00508322
00508323
00508324
00508325
00508326
00508331
00508332
00508333
00508334
00508335
00508336
005083A0
005083A1
005083A2
005083A3
005083A4
005083A5
005083A6
005083B1
005083B2
005083B3
005083B4
005083B5
005083B6
00508480
MSM encoder: Error in physical configuration (interface 0)
00508481
00508482
00508483
00508484
00508485
00508486
00508491
00508492
00508493
00508494
00508495
00508496
00MSM encoder: Error in physical configuration (interface 106)
005084A0
MSM encoder: Error in encoder configuration (interface 0)
005084A1
005084A2
005084A3
005084A4
005084A5
005084A6
005084B1
005084B2
005084B3
005084B4
005084B5
005084B6
005084C0
MSM encoder: Resolution cannot be displayed in binary form (interface 0)
005084C1
005084C2
005084C3
005084C4
005084C5
005084C6
005084D1
005084D2
005084D3
005084D4
005084D5
005084D6
00508600
MSM encoder: Battery defective or not available (no MT position, interface 0)
00508601
00508602
00508603
00508604
00508605
00508606
00508611
MSM encoder: Battery defective or not available (no MT position, interface
101)
00508612
102)
00508613
103)
00508614
104)
00508615
105)
00508616
106)
00508640
MSM encoder: Battery error with active battery box (interface 0)
00508641
00508642
00508643
00508644
00508645
00508646
00508651
00508652
00508653
00508654
00508655
00508656
00508720
MSM encoder: Inadmissible baud rate parameterized in S-0-0602.x.7
(interface 0)
00508721
(interface 1)
00508722
(interface 2)
00508723
(interface 3)
00508724
(interface 4)
00508725
(interface 5)
00508726
(interface 6)
00508731
(interface 101)
00508732
(interface 102)
00508733
(interface 103)
00508734
(interface 104)
00508735
(interface 105)
00508736
(interface 106)
00508780
MSM encoder: Encoder ID unknown (interface 0)
00508781
00508782
00508783
00508784
00508785
00508786
00508791
00508792
00508793
00508794
00508795
00508796
005087C0
005087C1
005087C2
005087C3
005087C4
005087C5
005087C6
005087D1
005087D2
005087D3
005087D4
005087D5
005087D6
00508800
Absolute encoder monitoring: Quadrant counter and absolute track do no
longer match (interface 0)
00508801
00508802
00508803
00508804
00508805
00508806
00508811
00508812
00508813
00508814
00508815
00508816
00508820
Absolute encoder monitoring: Monitoring no longer operable, as the absolute
position is incorrect (interface 0)
00508821
00508822
00508823
00508824
00508825
00508826
00508831
00508832
00508833
00508834
00508835
00508836
00508840
Position initialization with fine adjustment is incorrect (interface 0)
Cause: The absolute position does not match the leading position. The
difference is more than 135°. Remedy: Contact the manufacturer of the
encoder. Ask whether the signals are adjusted. Or deactivate the monitoring
(S-0-0602.x.136, bit 8="1").
00508841
(S-0-0602.x.136, bit 8="1").
00508842
(S-0-0602.x.136, bit 8="1").
00508843
(S-0-0602.x.136, bit 8="1").
00508844
(S-0-0602.x.136, bit 8="1").
00508845
(S-0-0602.x.136, bit 8="1").
00508846
(S-0-0602.x.136, bit 8="1").
00508851
(S-0-0602.x.136, bit 8="1").
00508852
(S-0-0602.x.136, bit 8="1").
00508853
(S-0-0602.x.136, bit 8="1").
00508854
(S-0-0602.x.136, bit 8="1").
00508855
(S-0-0602.x.136, bit 8="1").
00508856
(S-0-0602.x.136, bit 8="1").
0050E420
BiSS C encoder: Telegram error (CRC) (interface 0)
0050E421
0050E422
0050E423
0050E424
0050E425
0050E426
0050E431
0050E432
0050E433
0050E434
0050E435
0050E436
0050E440
BiSS C encoder: Telegram error (timeout) (interface 0)
0050E441
0050E442
0050E443
0050E444
0050E445
0050E446
0050E451
0050E452
0050E453
0050E454
0050E455
0050E456
0050E4A0
BiSS C encoder: Inadmissible baud rate parameterized in S-0-0602.x.7
(interface 0)
0050E4A1
(interface 1)
0050E4A2
(interface 2)
0050E4A3
(interface 3)
0050E4A4
(interface 4)
0050E4A5
(interface 5)
0050E4A6
(interface 6)
0050E4B1
(interface 101)
0050E4B2
(interface 102)
0050E4B3
(interface 103)
0050E4B4
(interface 104)
0050E4B5
(interface 105)
0050E4B6
(interface 106)
0050E500
BiSS C encoder: Error in physical configuration (interface 0)
0050E501
0050E502
0050E503
0050E504
0050E505
0050E506
0050E511
0050E512
0050E513
0050E514
0050E515
0050E516
0050E580
0050E581
0050E582
0050E583
0050E584
0050E585
0050E586
0050E591
0050E592
0050E593
0050E594
0050E595
0050E596
0050E5E0
BiSS C encoder: The encoder resolution is 0 (interface 0)
0050E5E1
0050E5E2
0050E5E3
0050E5E4
0050E5E5
0050E5E6
0050E5F1
0050E5F2
0050E5F3
0050E5F4
0050E5F5
0050E5F6
0050E600
BiSS C encoder: The resolution increase selected in S-0-0601.x.2 cannot be
displayed internally (interface 0)
0050E601
0050E602
0050E603
0050E604
0050E605
0050E606
0050E611
0050E612
0050E613
0050E614
0050E615
0050E616
0050E620
BiSS C encoder: The unit incr./mm in S-0-0602.x.2, bit 2 is not supported
(interface 0)
0050E621
(interface 1)
0050E622
(interface 2)
0050E623
(interface 3)
0050E624
(interface 4)
0050E625
(interface 5)
0050E626
(interface 6)
0050E631
(interface 101)
0050E632
(interface 102)
0050E633
(interface 103)
0050E634
(interface 104)
0050E635
(interface 105)
0050E636
(interface 106)
0050E640
BiSS C encoder: The resolution configured manually in S-0-0601.x.2 has to
be displayable in a binary format (interface 0)
0050E641
0050E642
0050E643
0050E644
0050E645
0050E646
0050E651
0050E652
0050E653
0050E654
0050E655
0050E656
0050E660
BiSS C encoder: Inversion of the rotational direction in S-0-0602.x.2, bit 3 is
not supported (interface 0)
0050E661
0050E662
0050E663
0050E664
0050E665
0050E666
0050E671
0050E672
0050E673
0050E674
0050E675
0050E676
0050E680
0050E681
0050E682
0050E683
0050E684
0050E685
0050E686
0050E691
0050E692
0050E693
0050E694
0050E695
0050E696
0050E6A0
BiSS C encoder: A manual configuration of the default resolution in
S-0-0601.x.1, bit 0 is not supported (interface 0)
0050E6A1
0050E6A2
0050E6A3
0050E6A4
0050E6A5
0050E6A6
0050E6B1
0050E6B2
0050E6B3
0050E6B4
0050E6B5
0050E6B6
00510017
Absolute scaling: OEM parameter P-0-1022 is not valid!
00510019
Absolute dimension has not been set yet (retain data backup)!
0051001C
Measuring encoder: Encoder replacement detected
0051001D
At least one of the values of position factor, control word, position resolution
or modulo value has changed.
0051001F
Absolute scaling: Parameter P-0-0179, Absolute encoder buffer 3 (measuring
encoder) is invalid!
00510020
Modulo scaling: Parameter P-0-1022, Absolute encoder offset 3, encoder
memory is invalid!
00510021
Modulo scaling: Parameter P-0-0179, Absolute encoder buffer 3 (measuring
00510022
Modulo scaling: Parameter P-0-0179, Absolute encoder buffer 3 (measuring
00510026
Position offset P-0-0052 greater than monitoring window P-0-0097
00510027
Battery undervoltage, measuring encoder
00510102
Encoder 1: read inadmissible slot with the OEM memory
00510108
Encoder 1: retain data (P-0-0177) of the motor encoder function invalid
(absolute scaling)
0051010A
Encoder 1: retain data (P-0-0177) of the motor encoder function invalid
(modulo scaling)
0051010C
Encoder 1: reference loss due to encoder replacement (inconsistent serial
number)
0051010D
Encoder 1: reference loss due to invalid offset in the OEM memory
0051010E
Encoder 1: reference loss due to missing reference in the retain data
(P-0-0177)
0051010 F
Encoder 1: position offset (S-0-0051) larger than monitoring window
(P-0-0095)
00510110
Encoder 1: reference loss due to changed mechanical parameter
00510111
Encoder 1: reference loss due to invalid retain data
00510113
Encoder 1: combination of mechanics and encoder not supported
00510114
Encoder 1: scaling settings error
00510116
Encoder 1: faulty ENCB resolution (resolution = 0)
00510118
Encoder 1: modulo value cannot be displayed (modulo value > 2^30)
00510202
Encoder 2: read inadmissible slot with the OEM memory
00510207
Encoder 2: absolute offset (P-0-1012) in the OEM memory invalid (absolute
scaling)
00510208
Encoder 2: retain data (P-0-0178) of the opt. encoder function invalid
(absolute scaling)
00510209
Encoder 2: absolute offset (P-0-1012) in the OEM memory invalid (modulo
scaling)
0051020A
Encoder 2: retain data (P-0-0178) of the opt. encoder function invalid
(absolute scaling)
0051020C
Encoder 2: reference loss due to encoder replacement [serial number
(S-0-611.x.136) does not match]
0051020D
Encoder 2: reference loss due to invalid offset in the OEM memory
0051020E
Encoder 2: reference loss due to missing reference in the retain data
(S-0-0178)
0051020 F
Encoder 2: position offset, position outside the monitoring window (P-0-0096)
00510210
Encoder 2: reference loss due to changed mechanical parameter
00510211
Encoder 2: reference loss due to invalid retain data (P-0-0178)
00510213
Encoder 2: combination of mechanics and encoder not supported
00510214
Encoder 2: scaling settings error
00510216
Encoder 2: ENCB resolution invalid (S-0-0611.2.2 is 0)
00510217
Encoder 2: modulo value cannot be displayed (modulo value = 0)
00510218
Encoder 2: modulo value cannot be displayed (internal value > 2^30)
00510219
Encoder 2: decimal digits of the modulo value cannot be displayed
0051022C
Encoder 2: Sercos encoder error: multiple dropped messages FKM
0051022D
Encoder 2: Sercos encoder error: multiple dropped messages CCD
00510230
Sercos encoder: multiple master communication telegram failures
00510231
Sercos encoder: multiple CCD telegram failures
00510234
Encoder 2: Sercos encoder error: Disconnection FKM
00510235
Encoder 2: Sercos encoder error: Disconnection CCD
00510238
Sercos encoder: Disconnection FKM
00510239
Sercos encoder: Disconnection CCD
00510242
Encoder 1: reference loss due to encoder battery error
00510243
Encoder 2: reference loss due to encoder battery undervoltage
00510244
Measuring encoder: reference loss due to encoder battery undervoltage,
encoder
0053000A
No unequivocal SMM selection (no SMM signal or multiple SMM signals
active in P-0-3261).
0053000B
Non-configured special mode "Safe motion” selected.
0053000C
Enabling control activated longer than parameterized maximum time
(P-0-3290.x.6).
0053000D
Position window (P-0-3290.x.3) exceeded.
0053000E
Velocity threshold (P-0-3290.x.2) exceeded.
0053000F
Velocity threshold (P-0-3290.x.8) exceeded longer than maximum allowed
time window (P-0-3290.x.7).
00530010
Velocity threshold (P-0-3270.0.2) exceeded.
00530011
Position window (P-0-3285.0.2) exceeded.
00530012
Position limit value (P-0-3270.0.3) exceeded in negative direction.
00530013
Position limit value (P-0-3270.0.3) exceeded in positive direction.
00530014
Selected SMO operating status not reached within the maximum transition
time.
00530015
Velocity limit exceeded during transition to the selected SMO operating
status.
00530016
Premature change in operating status due to NC-Ready bit even though
target velocity has not yet been reached.
00530018
Velocity limit exceeded during transition to standstill.
00530032
Switching to OM not possible because the drive is still in SCM. SCM first has
to be terminated with C8200.
00530033
Invalid password; initial password "INDRASAVE" was activated.
0053004B
Signal control outputs: Source IDN not allowed.
0053004C
IO mapper inputs: The maximum number of instances has been exceeded.
0053004D
IO mapper inputs: A command signal is used more than once.
0053004E
IO mapper inputs: Command IDN not allowed.
0053004F
IO mapper inputs: Command bits not allowed.
00530050
IO mapper inputs: Input signals in incorrect order.
00530051
IO mapper inputs: Only "safety bus" allowed
00530052
IO mapper inputs: List of source IDNs incomplete.
00530055
Data reference of position, velocity and acceleration not the same.
00530056
Scaling type of position, velocity and acceleration not the same.
00530057
Scaling unit of position, velocity and acceleration not the same (inch and
metric).
00530058
Data reference at the motor shaft not allowed with load encoder.
00530059
Incorrect rotation position resolution; only multiples of 360 degrees allowed.
00530074
Missing axis validation
00530085
Faulty switching from OM to PM. Reboot drive.
00530086
C8100 only allowed in PM.
00530087
C8200 only allowed in SCM.
00530089
C8300 only allowed when "Safe Motion" is inactive.
0053008A
Activating "Safe Motion" not allowed in OM.
To activate "Safe Motion", the drive has to be in PM.
0053008B
Deactivating "Safe Motion" only possible in PM or SCM.
0053008C
Impossible to switch from SCM to PM (C8200), because a critical SMO error
is present.
0053008D
Invalid signal "Status Error of safety zone": Check configuration and zone bus
connections.
0053008E
Invalid signal "Zone status 'safety'": Check configuration and zone bus
connections.
00530090
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00530091
bus connections.
00530092
Invalid safety door control: Check configuration and wiring.
00530093
00530095
Configuration error: Check configuration in P-0-3266.0.2 (bit 0, 1, 5).
00530096
Signal control inputs: Pulse duration less than minimum.
00530097
Signal control inputs: Maximum pulse duration exceeded.
00530098
IO mapper inputs: IO mapper block type not allowed.
005300A4
005300C8
Error in exponent for the position.
005300C9
Error in the scaling type for the position
005300CA
Error in exponent for the velocity.
005300CB
Error in the scaling type for the velocity.
005300CC
Error in exponent for the acceleration.
005300CD
Error in the scaling type for the acceleration.
00530150
IO mapper inputs: Source IDN not allowed.
00530151
IO mapper inputs: Source bit not allowed.
00530200
P-0-3235.0.4 incorrectly parameterized.
00530201
Axis identifier (P-0-3235.0.2) not verified.
Only verified proposed axis identifiers are applied.
00530202
P-0-3235.0.1 is not equal to the default value.
Command C8500 can only be executed if P-0-3235.0.1 is at the default
value.
00530203
Axis identifier (P-0-3235.0.2) too long.
Only axis identifiers with a maximum length of 44 characters are accepted.
00530204
Axis identifier (P-0-3235.0.2) too short.
Only axis identifiers with a length of at least three characters are accepted.
00530205
Axis identifier (P-0-3235.0.2) same as SMO password (P-0-3230.0.1).
00530206
Incorrect length of proposed TUNID.
The proposed TUNID entered in parameter S-0-1800.0.18 does not have the
correct length of 10 bytes.
00530207
TUNID is not equal to the default value.
Command C8500 was not able to be executed because S-0-1800.0.19 no
longer corresponds with its default value.
00530208
S-0-1800.0.18 not verified.
00530211
Switching not possible because not all configuration parameters have been
verified.
00530212
Switching not possible because not all configuration parameters are within
the allowed value range.
00530219
Switching not possible because not all parameters have been verified.
0053021A
Switching not possible because not all parameters are within the allowed
value range.
0053021C
Switching not possible because no SMO axis identifier has been assigned
yet.
0053021D
Switching impossible, because the axis validation (P-0-3210.0.2) has not
been verified.
00530261
Default values could not be loaded; image creation could not be deactivated.
Command C0720 was not able to be executed because the parameter image
creation could not be deactivated.
00530262
Default values could not be loaded; deactivation of safety technology
unsuccessful.
Command C0720 was not able to be executed because the safety
technology could not be deactivated.
00530263
Error in load defaults procedure.
An error occurred while loading the default values. One or more parameters
was not set to its default value.
00530264
Command C0720 cannot be executed at password level 2 (P-0-3230).
0053029B
Parameter image presently cannot be applied, because the axis is in PM or
OM. To apply it, switch to SCM.
005302A5
Error in parameter image.
005302A6
Command was started without previously loading a parameter image.
005302BE
Parameter image has incorrect SMO axis identifier Parameter image to be
activated contains an SMO axis identifier which does not comply with the
active SMO axis identifier of the device.
00530423
No valid safety technology operating status selected.
00530425
Safely-monitored deceleration with trend monitoring to Safe standstill
(P-0-3280.0.1, bit 3="0") not possible with drive-controlled transition
(P-0-3280.0.1, bit 1="1").
00530426
Configuration error: F7xx error reaction has been configured in different ways
in P-0-0119 (bits 4-7) and P-0-3263.0.1 (bits 4-7).
00530427
Configuration error: NC/MLD error reaction has been configured in different
ways in P-0-0117 (bit 0 and bit 1) and P-0-3263.0.1 (bit 16).
00530428
A safety function with position or velocity monitoring has been parameterized
but no encoder was configured.
00530450
Switching to SCM (command C8100) not allowed with unlocked safety door.
0053046B
Configuration error: NC/MLD error reaction (P-0-3263.0.1, bit 16="1")
impossible in the case of drive-controlled operation mode transition to
standstill (P-0-3280.0.1, bit 0="1").
00530475
Error in safety zone module telegram. Check zone bus wiring.
00530479
Safety zone module signals temperature error.
0053047A
Safety zone module signals 24V error. Supply voltage above tolerance.
0053047B
Safety zone module signals 24V error. Supply voltage below tolerance.
0053047D
Safety zone module signals "no zone master detected". (Last axis before the
safety zone module must have been configured as a zone master.)
0053047E
The safety zone module has detected an error at the SZE output (zone error).
0053047 F
The safety zone module has detected an error at the SZE output (zone
acknowledgment).
00530480
Safety zone telegrams detected at X42, although Safe Motion is not active.
00530486
0053049E
Configuration error: P-0-3266.0.2, bit 0="1", although with the hardware used
Safe Motion does not support zone setup via the safety zone module. (Only
allowed with S4/S5 option.)
005304A0
The firmware build configuration used is not allowed to be operated on this
hardware.
005304A5
is present.
005304AF
Impossible to execute command C0200, because "Safe Motion" waits for
C8300 ("Load new safety").
00530526
Invalid status signal "Error of safety zone": Check configuration and zone bus
connections.
00530527
connections.
00530528
bus connections.
00530529
bus connections.
0053052A
Control and feedback of SDL not plausible: Check signal configuration, wiring
and P-0-3266.0.4
00530569
Master does not respond with correct TUNID
Check TUNID in master, or master tries to establish a connection with the
wrong slave.
005305C7
When P-0-3235.0.5 (identification data image) had been checked, an error
(faulty CRC or invalid length) was detected.
00530663
Input pair 1 discrepancy error (X41 1.1 - X41 2.1)
00530664
00530665
00530666
00530667
00530668
00530669
0053066A
005306A1
Error when switching from CM to PM, because invalid assemblies were
specified.
When Safe communication via CIP Safety (P-0-3345 = 1) or Fail Safe over
Ethercat (P-0-3345 = 2) has been selected, this error can occur if either an
invalid consuming assembly (P-0-3342.0.1) or an invalid producing
assembl...
005306AD
PROFIsafe: Invalid F-Device address
005306AE
PROFIsafe: Invalid F-Host address
005306AF
PROFIsafe: Watchdog time "0" or inadmissible
005306B0
PROFIsafe: Required SIL level is not supported
005306B1
PROFIsafe: Invalid version of F-parameters
005306B2
PROFIsafe: Faulty CRC of F-parameters
005306B3
PROFIsafe: Inconsistent F-parameters
005306B4
PROFIsafe: Wrong F-module selected
005306C6
Local IO: Safe local output not enabled
The Safe local output is not available for the safety technology option "SB".
005306C7
Special mode with absolute position selected and Safe reference missing
005306C9
Safe reference missing and P-0-3257 >= P-0-3253.0.5
005306CB
Tolerance window (P-0-3253.0.4) should not be zero
005306CC
Incompatible position scaling (S-0-0076 with P-0-3222.0.1 / S-0-0078 with
P-0-3222.0.2 / S-0-0079 with P-0-3222.0.3)
005306CD
Modulo format (P-0-3222.0.1) is not supported for the safe absolute position
005306CE
SLP: Velocity towards positive position limit value (P-0-3290.x.4) too high
005306CF
SLP: Velocity towards negative position limit value (P-0-3290.x.5) too high
005306D0
SLP/SMP: Positive position limit value (P-0-3290.x.4) exceeded
005306D1
SLP/SMP: Negative position limit value (P-0-3290.x.5) below minimum
005306D2
SLP/SMP return motion check Positive position limit value exceeded
005306D3
SLP/SMP return motion check: Negative position limit value below minimum
005306D4
SLP/SMP: Rerturn velocity to allowed position range (P-0-3290.x.4) greater
than P-0-3253.0.5
005306D5
than P-0-3253.0.5
005306D6
SMP: Positive position limit value (P-0-3290.x.4) exceeded
005306D7
SMP: Negative position limit value (P-0-3290.x.5) below minimum
005306D8
SMP return motion check: Positive position limit value exceeded
005306D9
SMP return motion check: Negative position limit value below minimum
005306DA
SLE: Velocity towards positive position limit value (P-0-3270.0.4) too high
005306DB
SLE: Velocity towards negative position limit value (P-0-3270.0.5) too high
005306DC
SLE: Positive position limit value (P-0-3270.0.4) exceeded
005306DD
SLE: Negative position limit value (P-0-3270.0.5) below minimum
005306DE
SLE return motion check: Positive position limit value exceeded
005306DF
SLE return motion check: Negative position limit value below minimum
005306E0
SLE: Rerturn velocity to allowed position range (P-0-3270.0.4) greater than
P-0-3253.0.5
005306E1
P-0-3253.0.5
005306E7
Safety function SLP active, without safe reference
005306E8
Safety function SMP active, without Safe reference
005306E9
Safety function SLE active in special mode "Safe motion", without Safe
reference
005306ED
SLE in normal operation (P-0-3277.0.1; bit 2 = 1) and global SLE
(P-0-3270.0.1; bit 2 = 1) were configured at the same time
005306EE
SLP/SLE safety function configuration with F7 error reaction torque disable in
P-0-3263.0.1 is not allowed
005306EF
Safety function SLE: Velocity without Safe reference greater than
P-0-3253.0.5
005306F1
The requirements for executing the command C4000 have not been fulfilled
005306F4
The proposed axis identifier has not been verified.
005306F5
Axis ID does not have the default value, change not possible
005306F6
No safety field bus active
005306F8
Scaling type invalid or not supported by the SLE/SLP/SMP safety functions
005306F9
End position limit value, positive (P3270.0.4) greater than end position limit
value, negative (P-0-3270.0.5)
005306FA
End position limit value, negative (P-0-3270.0.5) outside modulo range
(P-0-3221.0.6)
005306FB
End position limit value, positive (P-0-3270.0.4) outside modulo range
(P-0-3221.0.6)
005306FC
Position limit value, positive (P3290.x.4) greater than position limit value,
negative (P3290.x.5)
005306FD
Position limit value, negative (P-0-3290.x.5) outside modulo range
(P-0-3221.0.6)
005306FE
Position threshold, positive (P-0-3290.x.4) outside modulo range
(P-0-3221.0.6)
0053071A
SLE, SMP, SLP safety function configuration without "Safe homing
procedure" configuration (bit 0 in "P-0-3253.0.1)
00530727
Error in scaling configuration or encoder configuration
Cause: The firmware does not support the combination of mounting position,
data reference of position data, position data processing format, position data
scaling type and encoder type of design. Remedy: Check parameterization
(see Application Manual)
00530728
Limit value of position feedback value difference of channel 1 and channel 2
cannot be displayed
Check parameterization; if necessary, adjust position scaling exponent.
00530729
cannot be displayed
00530732
No valid SMO reference signal detected (too short or disturbed)
00530733
No axis standstill during static SMO reference signal evaluation
00530734
Timeout during static SMO reference signal evaluation
00530739
Incompatible SMO parameter image
The SMO parameter image (P-0-3232.0.0) is incompatible with the running
firmware (e.g., after firmware downgrade).
0053073A
SLE, SLP: Invalid scaling of decimal place setting -> overflow in
normalization factor calculation
0053073D
With rotary ACUROlink encoders, the resolution has to be 2^n
0053073E
Linear ACUROlink encoders are not supported
00530742
Switching off encoder monitoring in normal operation is not allowed
(P-0-3242.1.2, bit 12), because "Safe reference" or SMS, SLE, SCA, SDI (in
normal operation) has been configured.
00530743
Invalid SCA configuration of direction-dependent cam evaluation (allowed
setting: 0, 1, 2, 3)
00530744
In the SCA version “multiple cams”, only the cams 1 to 8 can be
parameterized
00530745
SCA: Cam range + switching hysteresis (P-0-3271.0.n + P-0-3270.0.3)
outside of modulo range/travel range (P-0-3221.0.6/P-0-3221.0.7)
00530746
SCA safety functions configuration without configuration “Safe homing” (bit 0
in P-0-3253.0.1)
00530747
SCA: Invalid scaling of decimal place setting in "P-0-3222.0.2" -> overflow in
0053074F
Invalid encoder type in parameter P-0-3242.x.1
00530752
Signal control outputs: Bit in source IDN not available
00530753
Signal control outputs: Combination of source IDN and bit number not
possible
0053075C
In the SCA version “single cams”, the cam ranges overlap
0053075D
In the SCA “single cams” version, the “inverted cam status (switch-off
threshold < switch-on threshold)” is not admissible
00530C11
Configuration error: Phys. encoder resolution configured in different ways in
standard firmware (S-0-0116, S-0-0117 or S-0-0602.x.3) and Safe Motion
(P-0-3242.x.3).
00530C12
Configuration error: Rotational direction of encoder configured in different
ways in standard firmware (S-0-0115, S-0-0277 or S-0-0602.x.2) and Safe
Motion (P-0-3242.x.2).
0053311D
Wrong telegrams received from zone bus predecessor, because it has not
been configured as a zone node, but as a zone master, for example.
0054000A
No unequivocal SMM selection (no SMM signal or multiple SMM signals
active in P-0-3261).
0054000B
Non-configured special mode "Safe motion" was selected.
0054000C
Enabling control activated longer than parameterized maximum time
(P-0-3290.x.6).
0054000D
Position window (P-0-3290.x.3) exceeded.
0054000E
Velocity threshold (P-0-3290.x.2) exceeded.
0054000F
Velocity threshold (P-0-3290.x.8) exceeded longer than maximum allowed
time window (P-0-3290.x.7).
00540010
Velocity threshold (P-0-3270.0.2) exceeded.
00540011
Position window (P-0-3285.0.2) exceeded.
00540012
Position limit value (P-0-3270.0.3) exceeded in negative direction.
00540013
Position limit value (P-0-3270.0.3) exceeded in positive direction.
00540014
Selected SMO operating status not reached within the maximum transition
time.
00540015
Velocity limit exceeded during transition to the selected SMO operating
status.
00540016
Premature change in operating status due to NC-Ready bit even though
target velocity has not yet been reached.
00540018
Velocity limit exceeded during transition to standstill.
00540032
Switching to OM not possible because the drive is still in SCM. SCM first has
to be terminated with C8200.
00540033
Invalid password; initial password "INDRASAVE" was activated.
0054004B
Signal control of outputs: Source IDN not allowed.
0054004C
IO mapper inputs: The maximum number of instances has been exceeded.
0054004D
IO mapper inputs: A command signal is used more than once.
0054004E
IO mapper inputs: Command IDN not allowed.
0054004F
IO mapper inputs: Command bits not allowed.
00540050
IO mapper inputs: Input signals in incorrect order.
00540051
IO mapper inputs: Only "safety bus" allowed
00540052
IO mapper inputs: List of source IDNs incomplete.
00540055
Data reference of position, velocity and acceleration not the same.
00540056
Scaling type of position, velocity and acceleration not the same.
00540057
Scaling unit of position, velocity and acceleration not the same (inch and
metric).
00540058
Data reference at motor shaft not allowed with load encoder.
00540059
Incorrect rotation position resolution, only multiples of 360 degrees allowed.
00540074
Missing axis validation
00540085
Faulty switching from OM to PM. Reboot drive.
00540086
C8100 only allowed in PM.
00540087
00540089
C8300 only allowed when "Safe Motion" is inactive.
0054008A
Activating "Safe Motion" not allowed in OM.
To activate "Safe Motion", the drive has to be in PM.
0054008B
Deactivating "Safe Motion" only possible in PM or SCM.
0054008C
is present.
0054008D
Invalid signal "Status Error of safety zone": Check configuration and zone bus
connections.
0054008E
connections.
00540090
bus connections.
00540091
bus connections.
00540092
00540093
00540095
Configuration error: Check configuration in P-0-3266.0.2 (bit 0, 1, 5).
00540096
Signal control inputs: Pulse duration less than minimum.
00540097
Signal control inputs: Maximum pulse duration exceeded.
00540098
005400A4
005400C8
Error in exponent for the position.
005400C9
Error in the scaling type for the position
005400CA
Error in exponent for the velocity.
005400CB
Error in the scaling type for the velocity.
005400CC
Error in exponent for the acceleration.
005400CD
Error in the scaling type for the acceleration.
00540150
IO mapper inputs: Source IDN not allowed.
00540151
IO mapper inputs: Source bit not allowed.
00540200
P-0-3235.0.4 incorrectly parameterized.
00540201
Axis identifier (P-0-3235.0.2) not verified.
Only verified proposed axis identifiers are applied.
00540202
P-0-3235.0.1 is not equal to the default value.
Command C8500 can only be executed if P-0-3235.0.1 is at the default
value.
00540203
Axis identifier (P-0-3235.0.2) too long.
Only axis identifiers with a maximum length of 44 characters are accepted.
00540204
Axis identifier (P-0-3235.0.2) too short.
Only axis identifiers with a length of at least three characters are accepted.
00540205
Axis identifier (P-0-3235.0.2) same as SMO password (P-0-3230.0.1).
00540206
Incorrect length of proposed TUNID.
The proposed TUNID entered in parameter S-0-1800.0.18 does not have the
correct length of 10 bytes.
00540207
TUNID is not equal to the default value.
Command C8500 was not able to be executed because S-0-1800.0.19 no
longer corresponds with its default value.
00540208
S-0-1800.0.18 not verified.
00540211
Switching not possible because not all configuration parameters have been
verified.
00540212
Switching not possible because not all configuration parameters are within
the allowed value range.
00540219
Switching not possible because not all parameters have been verified.
0054021A
Switching not possible because not all parameters are within the allowed
value range.
0054021C
Switching not possible because no SMO axis identifier has been assigned
yet.
0054021D
Switching impossible, because the axis validation (P-0-3210.0.2) has not
been verified.
00540261
Default values could not be loaded; image creation could not be deactivated.
Command C0720 was not able to be executed because the parameter image
creation could not be deactivated.
00540262
Default values could not be loaded; deactivation of safety technology
unsuccessful.
Command C0720 was not able to be executed because the safety
technology could not be deactivated.
00540263
Error in load defaults procedure.
An error occurred while loading the default values. One or more parameters
was not set to its default value.
00540264
Command C0720 cannot be executed at password level 2 (P-0-3230).
0054029B
Parameter image presently cannot be applied, because the axis is in PM or
OM. To apply it, switch to SCM.
005402A5
Error in parameter image.
005402A6
Command was started without previously loading a parameter image.
005402BE
Parameter image has incorrect SMO axis identifier. Parameter image to be
activated contains an SMO axis identifier which does not comply with the
active SMO axis identifier of the device.
00540423
No valid safety technology operating status selected.
00540425
Safely-monitored deceleration with trend monitoring to Safe standstill
(P-0-3280.0.1, bit 3="0") not possible with drive-controlled transition
(P-0-3280.0.1, bit 1="1").
00540426
00540427
Configuration error: NC/MLD error reaction has been configured in different
ways in P-0-0117 (bit 0 and bit 1) and P-0-3263.0.1 (bit 16).
00540428
A safety function with position or velocity monitoring has been parameterized
but no encoder was configured
00540450
Switching to SCM (command C8100) not allowed with unlocked safety door.
0054046B
Configuration error: NC/MLD error reaction (P-0-3263.0.1, bit 16="1")
impossible in the case of drive-controlled operation mode transition to
standstill (P-0-3280.0.1, bit 0="1").
00540475
Error in safety zone module telegram. Check zone bus wiring.
00540479
Safety zone module signals temperature error.
0054047A
Safety zone module signals 24V error. Supply voltage above tolerance.
0054047B
Safety zone module signals 24V error. Supply voltage below tolerance.
0054047D
Safety zone module signals "no zone master detected". (Last axis before the
safety zone module must have been configured as a zone master.)
0054047E
The safety zone module has detected an error at the SZE output (zone error).
0054047 F
The safety zone module has detected an error at the SZE output (zone
acknowledgment).
00540480
Safety zone telegrams detected at X42, although Safe Motion is not active.
00540486
0054049E
Configuration error: P-0-3266.0.2, bit 0="1", although with the hardware used
Safe Motion does not support zone setup via the safety zone module. (Only
allowed with S4/S5 option.)
005404A0
The firmware build configuration used is not allowed to be operated on this
hardware.
005404A5
is present.
005404AF
Impossible to execute command C0200, because "Safe Motion" waits for
C8300 ("Load new safety").
00540526
Invalid status signal "Error of safety zone": Check configuration and zone bus
connections.
00540527
connections.
00540528
bus connections.
00540529
bus connections.
0054052A
Control and feedback of SDL not plausible: Check signal configuration, wiring
and P-0-3266.0.4
00540569
Master does not respond with correct TUNID
Check TUNID in master, or master tries to establish a connection with the
wrong slave.
005405C7
When P-0-3235.0.5 (identification data image) had been checked, an error
(faulty CRC or invalid length) was detected.
00540663
00540664
00540665
00540666
00540667
00540668
00540669
0054066A
005406A1
Error when switching from CM to PM, because invalid assemblies were
specified.
When Safe communication via CIP Safety (P-0-3345 = 1) or Fail Safe over
Ethercat (P-0-3345 = 2) has been selected, this error can occur if either an
invalid consuming assembly (P-0-3342.0.1) or an invalid producing
assembl...
005406AD
PROFIsafe: Invalid F-Device address
005406AE
PROFIsafe: Invalid F-Host address
005406AF
PROFIsafe: Watchdog time "0" or inadmissible
005406B0
PROFIsafe: Required SIL level is not supported
005406B1
PROFIsafe: Invalid version of F-parameters
005406B2
PROFIsafe: Faulty CRC of F-parameters
005406B3
PROFIsafe: Inconsistent F-parameters
005406B4
PROFIsafe: Wrong F-module selected
005406C6
Local IO: Safe local output not enabled
The Safe local output is not available for the safety technology option "SB".
005406C7
Special mode with absolute position selected and Safe reference missing
005406C9
Safe reference missing and P-0-3257 >= P-0-3253.0.5
005406CB
Tolerance window (P-0-3253.0.4) should not be zero
005406CC
Incompatible position scaling (S-0-0076 with P-0-3222.0.1 / S-0-0078 with
P-0-3222.0.2 / S-0-0079 with P-0-3222.0.3)
005406CD
Modulo format (P-0-3222.0.1) is not supported for the safe absolute position
005406CE
SLP: Velocity towards positive position limit value (P-0-3290.x.4) too high
005406CF
SLP: Velocity towards negative position limit value (P-0-3290.x.5) too high
005406D0
SLP/SMP: Positive position limit value (P-0-3290.x.4) exceeded
005406D1
SLP/SMP: Negative position limit value (P-0-3290.x.5) below minimum
005406D2
SLP/SMP return motion check: Positive position limit value exceeded
005406D3
SLP/SMP return motion check: Negative position limit value below minimum
005406D4
than P-0-3253.0.5
005406D5
than P-0-3253.0.5
005406D6
SMP: Positive position limit value (P-0-3290.x.4) exceeded
005406D7
SMP: Negative position limit value (P-0-3290.x.5) below minimum
005406D8
SMP return motion check: Positive position limit value exceeded
005406D9
SMP return motion check: Negative position limit value below minimum
005406DA
SLE: Velocity towards positive position limit value (P-0-3270.0.4) too high
005406DB
SLE: Velocity towards negative position limit value (P-0-3270.0.5) too high
005406DC
SLE: Positive position limit value (P-0-3270.0.4) exceeded
005406DD
SLE: Negative position limit value (P-0-3270.0.5) below minimum
005406DE
SLE return motion check: Positive position limit value exceeded
005406DF
SLE return motion check: Negative position limit value below minimum
005406E0
P-0-3253.0.5
005406E1
P-0-3253.0.5
005406E7
Safety function SLP active, without safe reference
005406E8
Safety function SMP active, without Safe reference
005406E9
Safety function SLE active in special mode "Safe motion", without Safe
reference
005406ED
SLE in normal operation (P-0-3277.0.1; bit 2 = 1) and global SLE
(P-0-3270.0.1; bit 2 = 1) were configured at the same time
005406EE
SLP/SLE safety function configuration with F7 error reaction torque disable in
P-0-3263.0.1 is not allowed
005406EF
Safety function SLE: Velocity without Safe reference greater than
P-0-3253.0.5
005406F1
The requirements for executing the command C4000 have not been fulfilled
005406F4
The proposed axis identifier has not been verified.
005406F5
Axis ID does not have the default value, change not possible
005406F6
No safety field bus active
005406F8
Scaling type invalid or not supported by the SLE/SLP/SMP safety functions
005406F9
End position limit value, positive (P3270.0.4) greater than end position limit
value, negative (P-0-3270.0.5)
005406FA
End position limit value, negative (P-0-3270.0.5) outside modulo range
(P-0-3221.0.6)
005406FB
End position limit value, positive (P-0-3270.0.4) outside modulo range
(P-0-3221.0.6)
005406FC
Position limit value, positive (P3290.x.4) greater than position limit value,
negative (P3290.x.5)
005406FD
Position limit value, negative (P-0-3290.x.5) outside modulo range
(P-0-3221.0.6)
005406FE
Position threshold, positive (P-0-3290.x.4) outside modulo range
(P-0-3221.0.6)
0054071A
SLE, SMP, SLP safety function configuration without "Safe homing
procedure" configuration (bit 0 in "P-0-3253.0.1)
00540727
Error in scaling configuration or encoder configuration
Cause: The firmware does not support the combination of mounting position,
data reference of position data, position data processing format, position data
scaling type and encoder type of design. Remedy: Check parameterization
(see Application Manual)
00540728
cannot be displayed
00540729
cannot be displayed
00540732
No valid SMO reference signal detected (too short or disturbed)
00540733
No axis standstill during static SMO reference signal evaluation
00540734
Timeout during static SMO reference signal evaluation
00540739
Incompatible SMO parameter image
The SMO parameter image (P-0-3232.0.0) is incompatible with the running
firmware (e.g., after firmware downgrade).
0054073A
SLE, SLP: Invalid scaling of decimal place setting -> overflow in
0054073D
With rotary ACUROlink encoders, the resolution has to be 2^n
0054073E
Linear ACUROlink encoders are not supported
00540742
Switching off encoder monitoring in normal operation is not allowed
(P-0-3242.1.2, bit 12), because "Safe reference" or SMS, SLE, SCA, SDI (in
normal operation) has been configured.
00540743
Invalid SCA configuration of direction-dependent cam evaluation (allowed
setting: 0, 1, 2, 3)
00540744
In the SCA version “multiple cams”, only the cams 1 to 8 can be
parameterized
00540745
SCA: Cam range + switching hysteresis (P-0-3271.0.n + P-0-3270.0.3)
outside of modulo range/travel range (P-0-3221.0.6/P-0-3221.0.7)
00540746
SCA safety functions configuration without configuration “Safe homing” (bit 0
in P-0-3253.0.1)
00540747
SCA: Invalid scaling of decimal place setting in "P-0-3222.0.2" -> overflow in
0054074F
Invalid encoder type in parameter P-0-3242.x.1
00540752
Signal control outputs: Bit in source IDN not available
00540753
Signal control outputs: Combination of source IDN and bit number not
possible
0054075C
In the SCA version “single cams”, the cam ranges overlap
0054075D
In the SCA “single cams” version, the “inverted cam status (switch-off
threshold < switch-on threshold)” is not admissible
00540C11
Configuration error: Phys. encoder resolution configured in different ways in
standard firmware (S-0-0116, S-0-0117 or S-0-0602.x.3) and Safe Motion
(P-0-3242.x.3).
00540C12
Configuration error: Rotational direction of encoder configured in different
ways in standard firmware (S-0-0115, S-0-0277 or S-0-0602.x.2) and Safe
Motion (P-0-3242.x.2).
0054311D
Wrong telegrams received from zone bus predecessor, because it has not
been configured as a zone node, but as a zone master, for example.
00600110
Invalid elements detected in the SMP connection
00730B10
Encoder line is not okay (wire break error) SSI encoder: Interface 0
00730B11
00730B12
00730B13
00730B14
00730B15
00730B16
00730B20
00730B21
00730B22
00730B23
00730B24
00730B25
00730B26
00730DF0
MSM encoder: Incorrect phys. encoder configuration (interface 0)
00730DF1
00730DF2
00730DF3
00730DF4
00730DF5
00730DF6
Detailed Diagnostics
Detailed diagnostics are generated by the drive if it is required to determine
the exact diagnosis.
See chapter "Basics on Device Diagnosis", subsection "Diagnostic System" -
"Detailed Diagnostics"
FFFFFFFF
System start / reboot
Index
Index
0…9 11: FWA file error - CRC checksum incor‐
000D000A......................................................... 540 rect.................................................................... 514
000D000B......................................................... 540 12: File error - incorrect data length.................. 514
000D000C......................................................... 540 20: FWA read not allowed - axis still in OM...... 515
000D000D......................................................... 540 21: FWA read not allowed - update active........ 515
000D000E......................................................... 540 22: Error reading FWA data.............................. 515
000D002A......................................................... 540 31: Update not allowed - other update active... 515
000D002C......................................................... 540 32: File error - incorrect IBF Format.................. 515
000D0006......................................................... 540 50: Axis ready for update.................................. 515
000D0007......................................................... 540 0050E4A0......................................................... 628
000D7FFF......................................................... 541 0050E4A1......................................................... 628
000D0009......................................................... 540 0050E4A2......................................................... 629
000D0034......................................................... 540 0050E4A3......................................................... 629
000D0035......................................................... 541 0050E4A4......................................................... 629
000D0036......................................................... 541 0050E4A5......................................................... 629
000D0037......................................................... 541 0050E4A6......................................................... 629
000D0038......................................................... 541 0050E4B1......................................................... 629
000D0039......................................................... 541 0050E4B2......................................................... 629
000F0005.......................................................... 541 0050E4B3......................................................... 629
000F0006.......................................................... 541 0050E4B4......................................................... 629
01: Incorrect filename in read request.............. 514 0050E4B5......................................................... 629
001D0003......................................................... 541 0050E4B6......................................................... 629
001E000A......................................................... 542 0050E5E0......................................................... 632
001E000B......................................................... 542 0050E5E1......................................................... 632
001E000C......................................................... 542 0050E5E2......................................................... 632
001E0002.......................................................... 541 0050E5E3......................................................... 632
001E0003.......................................................... 541 0050E5E4......................................................... 632
001E0004.......................................................... 542 0050E5E5......................................................... 632
001E0005.......................................................... 542 0050E5E6......................................................... 632
001E0006.......................................................... 542 0050E5F1......................................................... 632
001E0007.......................................................... 542 0050E5F2......................................................... 632
001E0008.......................................................... 542 0050E5F3......................................................... 632
001E0009.......................................................... 542 0050E5F4......................................................... 632
02: Unknown filename in write request............. 514 0050E5F5......................................................... 632
002A0012.......................................................... 544 0050E5F6......................................................... 632
002A0015.......................................................... 545 0050E6A0......................................................... 638
03: Update not allowed - Axis still in OM.......... 514 0050E6A1......................................................... 639
003A06AB......................................................... 547 0050E6A2......................................................... 639
003A06F7......................................................... 548 0050E6A3......................................................... 639
003A0064.......................................................... 547 0050E6A4......................................................... 639
003A0065.......................................................... 547 0050E6A5......................................................... 639
003A0066.......................................................... 547 0050E6A6......................................................... 639
003A0067.......................................................... 547 0050E6B1......................................................... 639
003A0517.......................................................... 547 0050E6B2......................................................... 639
003A0735.......................................................... 548 0050E6B3......................................................... 639
003C001F......................................................... 548 0050E6B4......................................................... 639
04: Update not allowed - Loader unavailable.... 514 0050E6B5......................................................... 639
05: Internal flash access error (driver as‐ 0050E6B6......................................................... 640
sign).................................................................. 514 0050E420.......................................................... 626
06: Internal flash access error (driver re‐ 0050E421.......................................................... 626
lease)................................................................ 514 0050E422.......................................................... 627
07: Error during programming data................... 514 0050E423.......................................................... 627
08: FWA file error - incorrect IBF format........... 514 0050E424.......................................................... 627
09: FWA file error - Hardware not supported.... 514 0050E425.......................................................... 627
10: Error during data verification....................... 514 0050E426.......................................................... 627
Index
0050E431.......................................................... 627 0050E620.......................................................... 634

0050E432.......................................................... 627 0050E621.......................................................... 634
0050E433.......................................................... 627 0050E622.......................................................... 634
0050E434.......................................................... 627 0050E623.......................................................... 634
0050E435.......................................................... 627 0050E624.......................................................... 634
0050E436.......................................................... 627 0050E625.......................................................... 634
0050E440.......................................................... 627 0050E626.......................................................... 634
0050E441.......................................................... 627 0050E631.......................................................... 634
0050E442.......................................................... 628 0050E632.......................................................... 634
0050E443.......................................................... 628 0050E633.......................................................... 635
0050E444.......................................................... 628 0050E634.......................................................... 635
0050E445.......................................................... 628 0050E635.......................................................... 635
0050E446.......................................................... 628 0050E636.......................................................... 635
0050E451.......................................................... 628 0050E640.......................................................... 635
0050E452.......................................................... 628 0050E641.......................................................... 635
0050E453.......................................................... 628 0050E642.......................................................... 635
0050E454.......................................................... 628 0050E643.......................................................... 635
0050E455.......................................................... 628 0050E644.......................................................... 635
0050E456.......................................................... 628 0050E645.......................................................... 635
0050E500.......................................................... 630 0050E646.......................................................... 635
0050E501.......................................................... 630 0050E651.......................................................... 636
0050E502.......................................................... 630 0050E652.......................................................... 636
0050E503.......................................................... 630 0050E653.......................................................... 636
0050E504.......................................................... 630 0050E654.......................................................... 636
0050E505.......................................................... 630 0050E655.......................................................... 636
0050E506.......................................................... 630 0050E656.......................................................... 636
0050E511.......................................................... 630 0050E660.......................................................... 636
0050E512.......................................................... 630 0050E661.......................................................... 636
0050E513.......................................................... 630 0050E662.......................................................... 636
0050E514.......................................................... 630 0050E663.......................................................... 636
0050E515.......................................................... 630 0050E664.......................................................... 636
0050E516.......................................................... 630 0050E665.......................................................... 637
0050E580.......................................................... 631 0050E666.......................................................... 637
0050E581.......................................................... 631 0050E671.......................................................... 637
0050E582.......................................................... 631 0050E672.......................................................... 637
0050E583.......................................................... 631 0050E673.......................................................... 637
0050E584.......................................................... 631 0050E674.......................................................... 637
0050E585.......................................................... 631 0050E675.......................................................... 637
0050E586.......................................................... 631 0050E676.......................................................... 637
0050E591.......................................................... 631 0050E680.......................................................... 637
0050E592.......................................................... 631 0050E681.......................................................... 637
0050E593.......................................................... 631 0050E682.......................................................... 637
0050E594.......................................................... 631 0050E683.......................................................... 638
0050E595.......................................................... 631 0050E684.......................................................... 638
0050E596.......................................................... 631 0050E685.......................................................... 638
0050E600.......................................................... 633 0050E686.......................................................... 638
0050E601.......................................................... 633 0050E691.......................................................... 638
0050E602.......................................................... 633 0050E692.......................................................... 638
0050E603.......................................................... 633 0050E693.......................................................... 638
0050E604.......................................................... 633 0050E694.......................................................... 638
0050E605.......................................................... 633 0050E695.......................................................... 638
0050E606.......................................................... 633 0050E696.......................................................... 638
0050E611.......................................................... 633 52: Update of <filename> successful................ 515
0050E612.......................................................... 633 53: Communication timeout during update....... 515
0050E613.......................................................... 633 60: Reboot not allowed - update active............. 515
0050E614.......................................................... 633 61: Reboot not allowed - device still in OM....... 515
0050E615.......................................................... 634 62: Reboot not allowed - no previous update... 515
0050E616.......................................................... 634 73A0 (CiA): F2131............................................ 237
Index
00500DE0......................................................... 555 00501A06.......................................................... 576

00500DE1......................................................... 555 00501A11.......................................................... 576
00500DE2......................................................... 555 00501A12.......................................................... 576
00500DE3......................................................... 555 00501A13.......................................................... 576
00500DE4......................................................... 555 00501A14.......................................................... 576
00500DE5......................................................... 555 00501A15.......................................................... 576
00500DE6......................................................... 556 00501A16.......................................................... 577
00500DF1......................................................... 556 00501A20.......................................................... 577
00500DF2......................................................... 556 00501A21.......................................................... 577
00500DF3......................................................... 556 00501A22.......................................................... 577
00500DF4......................................................... 556 00501A23.......................................................... 577
00500DF5......................................................... 556 00501A24.......................................................... 577
00500DF6......................................................... 556 00501A25.......................................................... 577
00500E00.......................................................... 556 00501A26.......................................................... 577
00500E01.......................................................... 556 00501A31.......................................................... 577
00500E02.......................................................... 556 00501A32.......................................................... 577
00500E03.......................................................... 556 00501A33.......................................................... 577
00500E04.......................................................... 557 00501A34.......................................................... 578
00500E05.......................................................... 557 00501A35.......................................................... 578
00500E06.......................................................... 557 00501A36.......................................................... 578
00500E11.......................................................... 557 00501A40.......................................................... 578
00500E12.......................................................... 557 00501A41.......................................................... 578
00500E13.......................................................... 557 00501A42.......................................................... 578
00500E14.......................................................... 557 00501A43.......................................................... 578
00500E15.......................................................... 557 00501A44.......................................................... 578
00500E16.......................................................... 557 00501A45.......................................................... 578
00500E20.......................................................... 557 00501A46.......................................................... 578
00500E21.......................................................... 557 00501A51.......................................................... 578
00500E22.......................................................... 558 00501A52.......................................................... 579
00500E23.......................................................... 558 00501A53.......................................................... 579
00500E24.......................................................... 558 00501A54.......................................................... 579
00500E25.......................................................... 558 00501A55.......................................................... 579
00500E26.......................................................... 558 00501A56.......................................................... 579
00500E31.......................................................... 558 00501A60.......................................................... 579
00500E32.......................................................... 558 00501A61.......................................................... 579
00500E33.......................................................... 558 00501A62.......................................................... 579
00500E34.......................................................... 558 00501A63.......................................................... 579
00500E35.......................................................... 558 00501A64.......................................................... 579
00500E36.......................................................... 558 00501A65.......................................................... 579
00500E40.......................................................... 559 00501A66.......................................................... 580
00500E41.......................................................... 559 00501A71.......................................................... 580
00500E42.......................................................... 559 00501A72.......................................................... 580
00500E43.......................................................... 559 00501A73.......................................................... 580
00500E44.......................................................... 559 00501A74.......................................................... 580
00500E45.......................................................... 559 00501A75.......................................................... 580
00500E46.......................................................... 559 00501A76.......................................................... 580
00500E51.......................................................... 559 00501A80.......................................................... 580
00500E52.......................................................... 559 00501A81.......................................................... 580
00500E53.......................................................... 559 00501A82.......................................................... 580
00500E54.......................................................... 559 00501A83.......................................................... 580
00500E55.......................................................... 560 00501A84.......................................................... 580
00500E56.......................................................... 560 00501A85.......................................................... 581
00501A00.......................................................... 575 00501A86.......................................................... 581
00501A01.......................................................... 576 00501A91.......................................................... 581
00501A02.......................................................... 576 00501A92.......................................................... 581
00501A03.......................................................... 576 00501A93.......................................................... 581
00501A04.......................................................... 576 00501A94.......................................................... 581
00501A05.......................................................... 576 00501A95.......................................................... 581
Index
00501A96.......................................................... 581 00501B25.......................................................... 586

00501AA0......................................................... 581 00501B26.......................................................... 586
00501AA1......................................................... 581 00501B31.......................................................... 586
00501AA2......................................................... 581 00501B32.......................................................... 586
00501AA3......................................................... 582 00501B33.......................................................... 587
00501AA4......................................................... 582 00501B34.......................................................... 587
00501AA5......................................................... 582 00501B35.......................................................... 587
00501AA6......................................................... 582 00501B36.......................................................... 587
00501AB1......................................................... 582 00501B40.......................................................... 587
00501AB2......................................................... 582 00501B41.......................................................... 587
00501AB3......................................................... 582 00501B42.......................................................... 587
00501AB4......................................................... 582 00501B43.......................................................... 587
00501AB5......................................................... 582 00501B44.......................................................... 587
00501AB6......................................................... 582 00501B45.......................................................... 587
00501AC0......................................................... 582 00501B46.......................................................... 587
00501AC1......................................................... 583 00501B51.......................................................... 588
00501AC2......................................................... 583 00501B52.......................................................... 588
00501AC3......................................................... 583 00501B53.......................................................... 588
00501AC4......................................................... 583 00501B54.......................................................... 588
00501AC5......................................................... 583 00501B55.......................................................... 588
00501AC6......................................................... 583 00501B56.......................................................... 588
00501AD1......................................................... 583 00501B60.......................................................... 588
00501AD2......................................................... 583 00501B61.......................................................... 588
00501AD3......................................................... 583 00501B62.......................................................... 588
00501AD4......................................................... 583 00501B63.......................................................... 588
00501AD5......................................................... 583 00501B64.......................................................... 588
00501AD6......................................................... 583 00501B65.......................................................... 589
00501AE0......................................................... 583 00501B66.......................................................... 589
00501AE1......................................................... 584 00501B71.......................................................... 589
00501AE2......................................................... 584 00501B72.......................................................... 589
00501AE3......................................................... 584 00501B73.......................................................... 589
00501AE4......................................................... 584 00501B74.......................................................... 589
00501AE5......................................................... 584 00501B75.......................................................... 589
00501AE6......................................................... 584 00501B76.......................................................... 589
00501AF1......................................................... 584 00501B80.......................................................... 589
00501AF2......................................................... 584 00501B81.......................................................... 589
00501AF3......................................................... 584 00501B82.......................................................... 589
00501AF4......................................................... 584 00501B83.......................................................... 590
00501AF5......................................................... 584 00501B84.......................................................... 590
00501AF6......................................................... 584 00501B85.......................................................... 590
00501B00.......................................................... 585 00501B86.......................................................... 590
00501B01.......................................................... 585 00501B91.......................................................... 590
00501B02.......................................................... 585 00501B92.......................................................... 590
00501B03.......................................................... 585 00501B93.......................................................... 590
00501B04.......................................................... 585 00501B94.......................................................... 590
00501B05.......................................................... 585 00501B95.......................................................... 590
00501B06.......................................................... 585 00501B96.......................................................... 590
00501B11.......................................................... 585 00501BA0......................................................... 590
00501B12.......................................................... 585 00501BA1......................................................... 591
00501B13.......................................................... 585 00501BA2......................................................... 591
00501B14.......................................................... 585 00501BA3......................................................... 591
00501B15.......................................................... 586 00501BA4......................................................... 591
00501B16.......................................................... 586 00501BA5......................................................... 591
00501B20.......................................................... 586 00501BA6......................................................... 591
00501B21.......................................................... 586 00501BB1......................................................... 591
00501B22.......................................................... 586 00501BB2......................................................... 591
00501B23.......................................................... 586 00501BB3......................................................... 591
00501B24.......................................................... 586 00501BB4......................................................... 591
Index
00501BB5......................................................... 591 00501D24......................................................... 597

00501BB6......................................................... 592 00501D25......................................................... 597
00501BC0......................................................... 592 00501D26......................................................... 597
00501BC1......................................................... 592 00501D31......................................................... 597
00501BC2......................................................... 592 00501D32......................................................... 597
00501BC3......................................................... 592 00501D33......................................................... 597
00501BC4......................................................... 592 00501D34......................................................... 597
00501BC5......................................................... 592 00501D35......................................................... 597
00501BC6......................................................... 592 00501D36......................................................... 597
00501BD1......................................................... 592 00501EA0......................................................... 597
00501BD2......................................................... 592 00501EA1......................................................... 597
00501BD3......................................................... 592 00501EA2......................................................... 598
00501BD4......................................................... 593 00501EA3......................................................... 598
00501BD5......................................................... 593 00501EA4......................................................... 598
00501BD6......................................................... 593 00501EA5......................................................... 598
00501BE0......................................................... 593 00501EA6......................................................... 598
00501BE1......................................................... 593 00501EB1......................................................... 598
00501BE2......................................................... 593 00501EB2......................................................... 598
00501BE3......................................................... 593 00501EB3......................................................... 598
00501BE4......................................................... 593 00501EB4......................................................... 598
00501BE5......................................................... 593 00501EB5......................................................... 598
00501BE6......................................................... 593 00501EB6......................................................... 598
00501BF1......................................................... 593 00501EC0......................................................... 599
00501BF2......................................................... 594 00501EC1......................................................... 599
00501BF3......................................................... 594 00501EC2......................................................... 599
00501BF4......................................................... 594 00501EC3......................................................... 599
00501BF5......................................................... 594 00501EC4......................................................... 599
00501BF6......................................................... 594 00501EC5......................................................... 599
00501C00......................................................... 594 00501EC6......................................................... 599
00501C01......................................................... 594 00501ED1......................................................... 599
00501C02......................................................... 594 00501ED2......................................................... 599
00501C03......................................................... 594 00501ED3......................................................... 599
00501C04......................................................... 594 00501ED4......................................................... 599
00501C05......................................................... 594 00501ED5......................................................... 600
00501C06......................................................... 595 00501ED6......................................................... 600
00501C11......................................................... 595 00501EE0......................................................... 600
00501C12......................................................... 595 00501EE1......................................................... 600
00501C13......................................................... 595 00501EE2......................................................... 600
00501C14......................................................... 595 00501EE3......................................................... 600
00501C15......................................................... 595 00501EE4......................................................... 600
00501C16......................................................... 595 00501EE5......................................................... 600
00501C20......................................................... 595 00501EE6......................................................... 600
00501C21......................................................... 595 00501EF1......................................................... 600
00501C22......................................................... 595 00501EF2......................................................... 600
00501C23......................................................... 595 00501EF3......................................................... 601
00501C24......................................................... 596 00501EF4......................................................... 601
00501C25......................................................... 596 00501EF5......................................................... 601
00501C26......................................................... 596 00501EF6......................................................... 601
00501C31......................................................... 596 00501F00.......................................................... 601
00501C32......................................................... 596 00501F01.......................................................... 601
00501C33......................................................... 596 00501F02.......................................................... 601
00501C34......................................................... 596 00501F03.......................................................... 601
00501C35......................................................... 596 00501F04.......................................................... 601
00501C36......................................................... 596 00501F05.......................................................... 601
00501D20......................................................... 596 00501F06.......................................................... 601
00501D21......................................................... 596 00501F11.......................................................... 601
00501D22......................................................... 597 00501F12.......................................................... 601
00501D23......................................................... 597 00501F13.......................................................... 602
Index
00501F14.......................................................... 602 00501FA3......................................................... 607

00501F15.......................................................... 602 00501FA4......................................................... 607
00501F16.......................................................... 602 00501FA5......................................................... 607
00501F20.......................................................... 602 00501FA6......................................................... 607
00501F21.......................................................... 602 00501FB1......................................................... 607
00501F22.......................................................... 602 00501FB2......................................................... 607
00501F23.......................................................... 602 00501FB3......................................................... 607
00501F24.......................................................... 602 00501FB4......................................................... 607
00501F25.......................................................... 602 00501FB5......................................................... 607
00501F26.......................................................... 602 00501FB6......................................................... 607
00501F31.......................................................... 602 00501FC0......................................................... 608
00501F32.......................................................... 602 00501FC1......................................................... 608
00501F33.......................................................... 603 00501FC2......................................................... 608
00501F34.......................................................... 603 00501FC3......................................................... 608
00501F35.......................................................... 603 00501FC4......................................................... 608
00501F36.......................................................... 603 00501FC5......................................................... 608
00501F40.......................................................... 603 00501FC6......................................................... 608
00501F41.......................................................... 603 00501FD1......................................................... 608
00501F42.......................................................... 603 00501FD2......................................................... 608
00501F43.......................................................... 603 00501FD3......................................................... 608
00501F44.......................................................... 603 00501FD4......................................................... 608
00501F45.......................................................... 603 00501FD5......................................................... 609
00501F46.......................................................... 603 00501FD6......................................................... 609
00501F51.......................................................... 603 00501FE0......................................................... 609
00501F52.......................................................... 604 00501FE1......................................................... 609
00501F53.......................................................... 604 00501FE2......................................................... 609
00501F54.......................................................... 604 00501FE3......................................................... 609
00501F55.......................................................... 604 00501FE4......................................................... 609
00501F56.......................................................... 604 00501FE5......................................................... 609
00501F60.......................................................... 604 00501FE6......................................................... 609
00501F61.......................................................... 604 00501FF1.......................................................... 609
00501F62.......................................................... 604 00501FF2.......................................................... 609
00501F63.......................................................... 604 00501FF3.......................................................... 610
00501F64.......................................................... 604 00501FF4.......................................................... 610
00501F65.......................................................... 604 00501FF5.......................................................... 610
00501F66.......................................................... 605 00501FF6.......................................................... 610
00501F71.......................................................... 605 00530C11......................................................... 660
00501F72.......................................................... 605 00530C12......................................................... 660
00501F73.......................................................... 605 00540C11......................................................... 676
00501F74.......................................................... 605 00540C12......................................................... 676
00501F75.......................................................... 605 718A (CiA): F8012............................................ 103
00501F76.......................................................... 605 718B (CiA): F2021............................................ 210
00501F80.......................................................... 605 718C (CiA): F8013............................................ 104
00501F81.......................................................... 605 718D (CiA): F2022............................................ 211
00501F82.......................................................... 605 718E (CiA): F8014............................................ 105
00501F83.......................................................... 605 718F (CiA): F8015............................................ 105
00501F84.......................................................... 606 00730B10.......................................................... 676
00501F85.......................................................... 606 00730B11.......................................................... 676
00501F86.......................................................... 606 00730B12.......................................................... 676
00501F91.......................................................... 606 00730B13.......................................................... 676
00501F92.......................................................... 606 00730B14.......................................................... 676
00501F93.......................................................... 606 00730B15.......................................................... 676
00501F94.......................................................... 606 00730B16.......................................................... 676
00501F95.......................................................... 606 00730B20.......................................................... 676
00501F96.......................................................... 606 00730B21.......................................................... 677
00501FA0......................................................... 606 00730B22.......................................................... 677
00501FA1......................................................... 606 00730B23.......................................................... 677
00501FA2......................................................... 607 00730B24.......................................................... 677
Index
00730B25.......................................................... 677 4285 (CiA): E2050............................................ 296

00730B26.......................................................... 677 4286 (CiA): E2061............................................ 303
00730DF0......................................................... 677 4381 (CiA): E2021............................................ 288
00730DF1......................................................... 677 4382 (CiA): E2051............................................ 297
00730DF2......................................................... 677 4383 (CiA): F2019............................................. 209
00730DF3......................................................... 677 4480 (CiA): E2086............................................ 309
00730DF4......................................................... 677 005002C1......................................................... 551
00730DF5......................................................... 677 005002C2......................................................... 551
00730DF6......................................................... 677 005002C3......................................................... 551
738A (CiA): F8042............................................ 112 005002C4......................................................... 552
738B (CiA): E2074............................................ 305 005002C5......................................................... 552
738C (CiA): E2075............................................ 306 005002C6......................................................... 552
738D (CiA): F2043............................................ 218 005002D1......................................................... 552
738E (CiA): F2177............................................ 242 005002D2......................................................... 552
738F (CiA): E2076............................................ 307 005002D3......................................................... 552
739A (CiA): F2076............................................ 230 005002D4......................................................... 552
818A (CiA): E4010............................................ 274 005002D5......................................................... 552
818B (CiA): E4011............................................ 274 005002D6......................................................... 552
818C (CiA): F4017............................................ 180 005002E1.......................................................... 552
818D (CiA): E4020............................................ 277 005002E2.......................................................... 552
818E (CiA): F4020............................................ 181 005002E3.......................................................... 552
818F (CiA): E4040............................................ 278 005002E4.......................................................... 552
868A (CiA): E8029............................................ 260 005002E5.......................................................... 553
868B (CiA): E8030............................................ 261 005002E6.......................................................... 553
2120 (CiA): F8833............................................. 140 005002F1.......................................................... 553
2181 (CiA): F2860............................................. 253 005002F2.......................................................... 553
2310 (CiA): F8860............................................. 142 005002F3.......................................................... 553
2380 (CiA): E8028............................................ 260 005002F4.......................................................... 553
2381 (CiA): E8057............................................ 267 005002F5.......................................................... 553
2384 (CiA): F8028............................................. 111 005002F6.......................................................... 553
002700C8......................................................... 543 005011C0......................................................... 560
002700C9......................................................... 543 005011C1......................................................... 560
002700CA......................................................... 543 005011C2......................................................... 560
002700CB......................................................... 543 005011C3......................................................... 560
002700CC......................................................... 543 005011C4......................................................... 560
002700CD......................................................... 543 005011C5......................................................... 560
002700CE......................................................... 543 005011C6......................................................... 560
002700CF......................................................... 544 005011D1......................................................... 560
002700D0......................................................... 544 005011D2......................................................... 560
002700D2......................................................... 544 005011D3......................................................... 561
002700D3......................................................... 544 005011D4......................................................... 561
002700D4......................................................... 544 005011D5......................................................... 561
3130 (CiA): F8064............................................. 114 005011D6......................................................... 561
3180 (CiA): E2814............................................ 316 005017C0......................................................... 561
3182 (CiA): F2818............................................. 248 005017C1......................................................... 561
3221 (CiA): E2026............................................ 290 005017C2......................................................... 561
3222 (CiA): F2026............................................. 212 005017C3......................................................... 561
3223 (CiA): E2816............................................ 316 005017C4......................................................... 561
3280 (CiA): E2020............................................ 288 005017C5......................................................... 561
3281 (CiA): F2027............................................. 212 005017C6......................................................... 561
3282 (CiA): F8817............................................. 138 005017D1......................................................... 561
3284 (CiA): E8025............................................ 258 005017D2......................................................... 561
3285 (CiA): E8026............................................ 259 005017D3......................................................... 562
3286 (CiA): F8025............................................. 110 005017D4......................................................... 562
4281 (CiA): F2040............................................. 217 005017D5......................................................... 562
4282 (CiA): F8018............................................. 107 005017D6......................................................... 562
4283 (CiA): E2040............................................ 292 005018A0.......................................................... 563
4284 (CiA): F2018............................................. 208 005018A1.......................................................... 563
Index
005018A2.......................................................... 563 005019D2......................................................... 574

005018A3.......................................................... 563 005019D3......................................................... 574
005018A4.......................................................... 563 005019D4......................................................... 574
005018A5.......................................................... 563 005019D5......................................................... 574
005018A6.......................................................... 563 005019D6......................................................... 574
005018B1.......................................................... 563 005019E0.......................................................... 574
005018B2.......................................................... 563 005019E1.......................................................... 574
005018B3.......................................................... 564 005019E2.......................................................... 574
005018B4.......................................................... 564 005019E3.......................................................... 575
005018B5.......................................................... 564 005019E4.......................................................... 575
005018B6.......................................................... 564 005019E5.......................................................... 575
005018C0......................................................... 564 005019E6.......................................................... 575
005018C1......................................................... 564 005019F1.......................................................... 575
005018C2......................................................... 564 005019F2.......................................................... 575
005018C3......................................................... 564 005019F3.......................................................... 575
005018C4......................................................... 564 005019F4.......................................................... 575
005018C5......................................................... 564 005019F5.......................................................... 575
005018C6......................................................... 564 005019F6.......................................................... 575
005018D1......................................................... 564 5080 (CiA): F8000............................................... 99
005018D2......................................................... 564 5081 (CiA): F8091............................................. 119
005018D3......................................................... 565 5082 (CiA): F8099............................................. 120
005018D4......................................................... 565 005082C0......................................................... 611
005018D5......................................................... 565 005082C1......................................................... 611
005018D6......................................................... 565 005082C2......................................................... 611
005018E0.......................................................... 565 005082C3......................................................... 611
005018E1.......................................................... 565 005082C4......................................................... 611
005018E2.......................................................... 565 005082C5......................................................... 611
005018E3.......................................................... 565 005082C6......................................................... 611
005018E4.......................................................... 565 005082D1......................................................... 611
005018E5.......................................................... 565 005082D2......................................................... 611
005018E6.......................................................... 565 005082D3......................................................... 612
005018F1.......................................................... 565 005082D4......................................................... 612
005018F2.......................................................... 566 005082D5......................................................... 612
005018F3.......................................................... 566 005082D6......................................................... 612
005018F4.......................................................... 566 5083 (CiA): F8122............................................. 123
005018F5.......................................................... 566 005083A0.......................................................... 613
005018F6.......................................................... 566 005083A1.......................................................... 613
005019A0.......................................................... 572 005083A2.......................................................... 613
005019A1.......................................................... 572 005083A3.......................................................... 613
005019A2.......................................................... 572 005083A4.......................................................... 613
005019A3.......................................................... 572 005083A5.......................................................... 613
005019A4.......................................................... 572 005083A6.......................................................... 613
005019A5.......................................................... 572 005083B1.......................................................... 613
005019A6.......................................................... 572 005083B2.......................................................... 613
005019B1.......................................................... 573 005083B3.......................................................... 614
005019B2.......................................................... 573 005083B4.......................................................... 614
005019B3.......................................................... 573 005083B5.......................................................... 614
005019B4.......................................................... 573 005083B6.......................................................... 614
005019B5.......................................................... 573 5084 (CiA): F8129............................................. 124
005019B6.......................................................... 573 005084A0.......................................................... 615
005019C0......................................................... 573 005084A1.......................................................... 615
005019C1......................................................... 573 005084A2.......................................................... 615
005019C2......................................................... 573 005084A3.......................................................... 615
005019C3......................................................... 573 005084A4.......................................................... 615
005019C4......................................................... 573 005084A5.......................................................... 615
005019C5......................................................... 574 005084A6.......................................................... 615
005019C6......................................................... 574 005084B1.......................................................... 615
005019D1......................................................... 574 005084B2.......................................................... 615
Index
005084B3.......................................................... 616 005304A0.......................................................... 652

005084B4.......................................................... 616 005304A5.......................................................... 652
005084B5.......................................................... 616 005304AF......................................................... 652
005084B6.......................................................... 616 005305C7......................................................... 653
005084C0......................................................... 616 005306A1.......................................................... 653
005084C1......................................................... 616 005306AD......................................................... 653
005084C2......................................................... 616 005306AE......................................................... 654
005084C3......................................................... 616 005306AF......................................................... 654
005084C4......................................................... 616 005306B0.......................................................... 654
005084C5......................................................... 616 005306B1.......................................................... 654
005084C6......................................................... 616 005306B2.......................................................... 654
005084D1......................................................... 616 005306B3.......................................................... 654
005084D2......................................................... 616 005306B4.......................................................... 654
005084D3......................................................... 617 005306C6......................................................... 654
005084D4......................................................... 617 005306C7......................................................... 654
005084D5......................................................... 617 005306C9......................................................... 654
005084D6......................................................... 617 005306CB......................................................... 654
5086 (CiA): F8830............................................. 140 005306CC......................................................... 654
5087 (CiA): F8835............................................. 140 005306CD......................................................... 654
005087C0......................................................... 621 005306CE......................................................... 655
005087C1......................................................... 621 005306CF......................................................... 655
005087C2......................................................... 621 005306D0......................................................... 655
005087C3......................................................... 621 005306D1......................................................... 655
005087C4......................................................... 621 005306D2......................................................... 655
005087C5......................................................... 621 005306D3......................................................... 655
005087C6......................................................... 622 005306D4......................................................... 655
005087D1......................................................... 622 005306D5......................................................... 655
005087D2......................................................... 622 005306D6......................................................... 655
005087D3......................................................... 622 005306D7......................................................... 655
005087D4......................................................... 622 005306D8......................................................... 655
005087D5......................................................... 622 005306D9......................................................... 655
005087D6......................................................... 622 005306DA......................................................... 655
5088 (CiA): F8899............................................. 143 005306DB......................................................... 656
5089 (CiA): F9100............................................... 96 005306DC......................................................... 656
5090 (CiA): F9202............................................... 97 005306DD......................................................... 656
5091 (CiA): E2022............................................ 289 005306DE......................................................... 656
5092 (CiA): F2106............................................. 235 005306DF......................................................... 656
5093 (CiA): E2024............................................ 289 005306E0.......................................................... 656
5094 (CiA): E2099............................................ 311 005306E1.......................................................... 656
5180 (CiA): E2005............................................ 284 005306E7.......................................................... 656
5181 (CiA): E2829............................................ 318 005306E8.......................................................... 656
5182 (CiA): F2816............................................. 248 005306E9.......................................................... 656
5183 (CiA): F8069............................................. 115 005306ED......................................................... 656
5184 (CiA): F8836............................................. 141 005306EE......................................................... 656
5185 (CiA): F2001............................................. 199 005306EF......................................................... 657
5186 (CiA): F2836............................................. 252 005306F1.......................................................... 657
5187 (CiA): F8070............................................. 116 005306F4.......................................................... 657
5189 (CiA): F8071............................................. 116 005306F5.......................................................... 657
005300A4.......................................................... 648 005306F6.......................................................... 657
005300C8......................................................... 648 005306F8.......................................................... 657
005300C9......................................................... 648 005306F9.......................................................... 657
005300CA......................................................... 648 005306FA......................................................... 657
005300CB......................................................... 648 005306FB......................................................... 657
005300CC......................................................... 648 005306FC......................................................... 657
005300CD......................................................... 648 005306FD......................................................... 657
005302A5.......................................................... 650 005306FE......................................................... 657
005302A6.......................................................... 650 005400A4.......................................................... 664
005302BE......................................................... 650 005400C8......................................................... 664
Index
005400C9......................................................... 664 005406F9.......................................................... 673

005400CA......................................................... 664 005406FA......................................................... 673
005400CB......................................................... 664 005406FB......................................................... 673
005400CC......................................................... 664 005406FC......................................................... 673
005400CD......................................................... 664 005406FD......................................................... 673
005402A5.......................................................... 666 005406FE......................................................... 673
005402A6.......................................................... 666 5480 (CiA): F2820............................................. 249
005402BE......................................................... 666 5482 (CiA): F2821............................................. 250
005404A0.......................................................... 668 5483 (CiA): F8060............................................. 114
005404A5.......................................................... 668 5484 (CiA): F8821............................................. 139
005404AF......................................................... 668 5485 (CiA): F2825............................................. 251
005405C7......................................................... 669 5486 (CiA): F8838............................................. 142
005406A1.......................................................... 669 5487 (CiA): E2820............................................ 317
005406AD......................................................... 669 6010 (CiA): F9003............................................... 96
005406AE......................................................... 670 6080 (CiA): F8118............................................. 122
005406AF......................................................... 670 6081 (CiA): F9200............................................... 97
005406B0.......................................................... 670 6082 (CiA): F8120............................................. 122
005406B1.......................................................... 670 6083 (CiA): F9201............................................... 97
005406B2.......................................................... 670 6089 (CiA): F8102............................................. 121
005406B3.......................................................... 670 6180 (CiA): F9001............................................... 95
005406B4.......................................................... 670 6181 (CiA): F9002............................................... 96
005406C6......................................................... 670 6183 (CiA): F9005............................................... 96
005406C7......................................................... 670 6380 (CiA): F2100............................................. 232
005406C9......................................................... 670 6381 (CiA): F8100............................................. 120
005406CB......................................................... 670 7080 (CiA): F8128............................................. 123
005406CC......................................................... 670 7182 (CiA): E8055............................................ 266
005406CD......................................................... 670 7183 (CiA): F2068............................................. 227
005406CE......................................................... 671 7184 (CiA): F2086............................................. 231
005406CF......................................................... 671 7185 (CiA): F8010............................................. 101
005406D0......................................................... 671 7187 (CiA): F2072............................................. 228
005406D1......................................................... 671 7188 (CiA): F8011............................................. 102
005406D2......................................................... 671 7190 (CiA): F8016............................................. 106
005406D3......................................................... 671 7191 (CiA): F8017............................................. 106
005406D4......................................................... 671 7192 (CiA): F2032............................................. 214
005406D5......................................................... 671 7193 (CiA): F2104............................................. 234
005406D6......................................................... 671 7280 (CiA): F2077............................................. 231
005406D7......................................................... 671 7383 (CiA): F2174............................................. 239
005406D8......................................................... 671 7384 (CiA): E2042............................................ 293
005406D9......................................................... 671 7385 (CiA): F2175............................................. 240
005406DA......................................................... 671 7386 (CiA): F8022............................................. 109
005406DB......................................................... 672 7387 (CiA): E2043............................................ 294
005406DC......................................................... 672 7388 (CiA): F2042............................................. 217
005406DD......................................................... 672 7389 (CiA): F2176............................................. 241
005406DE......................................................... 672 7390 (CiA): F2048............................................. 219
005406DF......................................................... 672 7391 (CiA): F2178............................................. 242
005406E0.......................................................... 672 7392 (CiA): E2077............................................ 308
005406E1.......................................................... 672 7393 (CiA): F2053............................................. 221
005406E7.......................................................... 672 7394 (CiA): F2179............................................. 243
005406E8.......................................................... 672 7396 (CiA): F2054............................................. 222
005406E9.......................................................... 672 7398 (CiA): F2074............................................. 228
005406ED......................................................... 672 7399 (CiA): F2075............................................. 229
005406EE......................................................... 672 7480 (CiA): F8076............................................. 117
005406EF......................................................... 673 7481 (CiA): F8078............................................. 118
005406F1.......................................................... 673 7580 (CiA): F2087............................................. 232
005406F4.......................................................... 673 7581 (CiA): F2110............................................. 236
005406F5.......................................................... 673 7582 (CiA): F2190............................................. 243
005406F6.......................................................... 673 7583 (CiA): F8001............................................... 99
005406F8.......................................................... 673 7586 (CiA): F8034............................................. 112
Index
7587 (CiA): F8044............................................. 113 8682 (CiA): E2053............................................ 298

7680 (CiA): F2101............................................. 233 8683 (CiA): F2051............................................. 221
7681 (CiA): F2102............................................. 233 8684 (CiA): E2054............................................ 299
7682 (CiA): F2103............................................. 234 8685 (CiA): F2057............................................. 223
7683 (CiA): F2105............................................. 235 8686 (CiA): F6058............................................. 172
7684 (CiA): F2120............................................. 237 8687 (CiA): E2055............................................ 300
0008000A.......................................................... 539 8688 (CiA): F6059............................................. 172
0008000B.......................................................... 539 8689 (CiA): E2058............................................ 301
0008000C......................................................... 540 8780 (CiA): E2100............................................ 311
0008000D......................................................... 540 8781 (CiA): F2063............................................. 226
8081 (CiA): F6028............................................. 166 8782 (CiA): F2064............................................. 226
8082 (CiA): F6029............................................. 167 8783 (CiA): F6002............................................. 160
8083 (CiA): F6030............................................. 168 8784 (CiA): F6003............................................. 161
8084 (CiA): F6024............................................. 165 8785 (CiA): F6004............................................. 161
8085 (CiA): F6042............................................. 169 8786 (CiA): F6005............................................. 163
8086 (CiA): F6043............................................. 170 8787 (CiA): F6006............................................. 163
8087 (CiA): F6044............................................. 171 0019002B.......................................................... 541
8088 (CiA): F6200............................................. 173 0022006E.......................................................... 542
8089 (CiA): F8079............................................. 119 0037002A.......................................................... 545
8090 (CiA): E8042............................................ 263 0037002B.......................................................... 545
8091 (CiA): E8043............................................ 264 0037002C......................................................... 546
8092 (CiA): E8044............................................ 265 0037002D......................................................... 546
8110 (CiA): F4011............................................. 179 0037003C......................................................... 546
8180 (CiA): E4001............................................ 270 0037003D......................................................... 546
8181 (CiA): F4003............................................. 176 0037003E.......................................................... 546
8182 (CiA): E4002............................................ 270 0037003F.......................................................... 546
8183 (CiA): F4004............................................. 176 0050014C......................................................... 551
8184 (CiA): E4005............................................ 271 0051001C......................................................... 640
8185 (CiA): F4005............................................. 177 0051001D......................................................... 640
8186 (CiA): E4006............................................ 272 0051001F.......................................................... 640
8187 (CiA): F4006............................................. 177 0051010A.......................................................... 641
8188 (CiA): E4007............................................ 272 0051010C......................................................... 641
8189 (CiA): F4009............................................. 177 0051010D......................................................... 641
8190 (CiA): E4041............................................ 278 0051010E.......................................................... 641
8191 (CiA): E4042............................................ 279 0051010F.......................................................... 641
8192 (CiA): E4043............................................ 279 0051020A.......................................................... 642
8193 (CiA): E4044............................................ 279 0051020C......................................................... 642
8194 (CiA): E4045............................................ 279 0051020D......................................................... 642
8195 (CiA): E4046............................................ 280 0051020E.......................................................... 642
8196 (CiA): E4047............................................ 280 0051020F.......................................................... 642
8210 (CiA): F4012............................................. 180 0051022C......................................................... 643
8250 (CiA): F4002............................................. 175 0051022D......................................................... 643
8280 (CiA): E4008............................................ 273 0053000A.......................................................... 644
8281 (CiA): E4009............................................ 273 0053000B.......................................................... 644
8282 (CiA): F4001............................................. 174 0053000C......................................................... 644
8380 (CiA): E2056............................................ 301 0053000D......................................................... 644
8381 (CiA): E8040............................................ 263 0053000E.......................................................... 644
8382 (CiA): E8260............................................ 268 0053000F.......................................................... 644
8480 (CiA): E2059............................................ 302 0053004B.......................................................... 645
8481 (CiA): E2063............................................ 304 0053004C......................................................... 645
8482 (CiA): E2070............................................ 304 0053004D......................................................... 645
8580 (CiA): E2010............................................ 285 0053004E.......................................................... 645
8581 (CiA): E2037............................................ 291 0053004F.......................................................... 645
8582 (CiA): F2028............................................. 213 0053008A.......................................................... 646
8583 (CiA): F2036............................................. 215 0053008B.......................................................... 647
8584 (CiA): F2037............................................. 216 0053008C......................................................... 647
8680 (CiA): E2049............................................ 295 0053008D......................................................... 647
8681 (CiA): F2050............................................. 220 0053008E.......................................................... 647
Index
0053021A.......................................................... 649 00080001.......................................................... 539

0053021C......................................................... 649 00080002.......................................................... 539
0053021D......................................................... 649 00080003.......................................................... 539
0053029B.......................................................... 650 00080004.......................................................... 539
0053046B.......................................................... 651 00080005.......................................................... 539
0053047A.......................................................... 651 00080006.......................................................... 539
0053047B.......................................................... 651 00080007.......................................................... 539
0053047D......................................................... 651 00080008.......................................................... 539
0053047E.......................................................... 651 00080009.......................................................... 539
0053047F.......................................................... 651 00190020.......................................................... 541
0053049E.......................................................... 652 00220070.......................................................... 543
0053052A.......................................................... 652 00270052.......................................................... 543
0053066A.......................................................... 653 00270141.......................................................... 544
0053071A.......................................................... 658 00270142.......................................................... 544
0053073A.......................................................... 658 00330016.......................................................... 545
0053073D......................................................... 658 00330017.......................................................... 545
0053073E.......................................................... 658 00340003.......................................................... 545
0053074F.......................................................... 659 00370025.......................................................... 545
0053075C......................................................... 659 00370027.......................................................... 545
0053075D......................................................... 659 00370028.......................................................... 545
0053311D......................................................... 660 00370029.......................................................... 545
0054000A.......................................................... 660 00370032.......................................................... 546
0054000B.......................................................... 660 00370033.......................................................... 546
0054000C......................................................... 660 00370034.......................................................... 546
0054000D......................................................... 660 00370035.......................................................... 546
0054000E.......................................................... 660 00370036.......................................................... 546
0054000F.......................................................... 660 00370037.......................................................... 546
0054004B.......................................................... 661 00370040.......................................................... 546
0054004C......................................................... 661 00370041.......................................................... 547
0054004D......................................................... 661 00370042.......................................................... 547
0054004E.......................................................... 661 00370043.......................................................... 547
0054004F.......................................................... 661 00370044.......................................................... 547
0054008A.......................................................... 662 00370045.......................................................... 547
0054008B.......................................................... 663 00370046.......................................................... 547
0054008C......................................................... 663 00370047.......................................................... 547
0054008D......................................................... 663 00500081.......................................................... 548
0054008E.......................................................... 663 00500082.......................................................... 548
0054021A.......................................................... 665 00500083.......................................................... 548
0054021C......................................................... 665 00500084.......................................................... 548
0054021D......................................................... 665 00500085.......................................................... 548
0054029B.......................................................... 666 00500086.......................................................... 548
0054046B.......................................................... 667 00500091.......................................................... 548
0054047A.......................................................... 667 00500092.......................................................... 548
0054047B.......................................................... 667 00500093.......................................................... 549
0054047D......................................................... 667 00500094.......................................................... 549
0054047E.......................................................... 667 00500095.......................................................... 549
0054047F.......................................................... 667 00500096.......................................................... 549
0054049E.......................................................... 668 00500121.......................................................... 549
0054052A.......................................................... 668 00500122.......................................................... 549
0054066A.......................................................... 669 00500123.......................................................... 549
0054071A.......................................................... 674 00500124.......................................................... 549
0054073A.......................................................... 674 00500125.......................................................... 549
0054073D......................................................... 674 00500126.......................................................... 549
0054073E.......................................................... 674 00500131.......................................................... 549
0054074F.......................................................... 675 00500132.......................................................... 550
0054075C......................................................... 675 00500133.......................................................... 550
0054075D......................................................... 675 00500134.......................................................... 550
0054311D......................................................... 676 00500135.......................................................... 550
Index
00500136.......................................................... 550 00501905.......................................................... 566

00500140.......................................................... 550 00501906.......................................................... 567
00500141.......................................................... 550 00501911.......................................................... 567
00500142.......................................................... 550 00501912.......................................................... 567
00500143.......................................................... 550 00501913.......................................................... 567
00500144.......................................................... 550 00501914.......................................................... 567
00500145.......................................................... 550 00501915.......................................................... 567
00500146.......................................................... 550 00501916.......................................................... 567
00500147.......................................................... 551 00501920.......................................................... 567
00500150.......................................................... 551 00501921.......................................................... 567
00500151.......................................................... 551 00501922.......................................................... 567
00500152.......................................................... 551 00501923.......................................................... 567
00500153.......................................................... 551 00501924.......................................................... 568
00500154.......................................................... 551 00501925.......................................................... 568
00500155.......................................................... 551 00501926.......................................................... 568
00500156.......................................................... 551 00501931.......................................................... 568
00500321.......................................................... 553 00501932.......................................................... 568
00500322.......................................................... 553 00501933.......................................................... 568
00500323.......................................................... 553 00501934.......................................................... 568
00500324.......................................................... 553 00501935.......................................................... 568
00500325.......................................................... 553 00501936.......................................................... 568
00500326.......................................................... 554 00501940.......................................................... 568
00500331.......................................................... 554 00501941.......................................................... 568
00500332.......................................................... 554 00501942.......................................................... 569
00500333.......................................................... 554 00501943.......................................................... 569
00500334.......................................................... 554 00501944.......................................................... 569
00500335.......................................................... 554 00501945.......................................................... 569
00500336.......................................................... 554 00501946.......................................................... 569
00500341.......................................................... 554 00501951.......................................................... 569
00500342.......................................................... 554 00501952.......................................................... 569
00500343.......................................................... 554 00501953.......................................................... 569
00500344.......................................................... 554 00501954.......................................................... 569
00500345.......................................................... 554 00501955.......................................................... 569
00500346.......................................................... 554 00501956.......................................................... 569
00500351.......................................................... 555 00501960.......................................................... 570
00500352.......................................................... 555 00501961.......................................................... 570
00500353.......................................................... 555 00501962.......................................................... 570
00500354.......................................................... 555 00501963.......................................................... 570
00500355.......................................................... 555 00501964.......................................................... 570
00500356.......................................................... 555 00501965.......................................................... 570
00501880.......................................................... 562 00501966.......................................................... 570
00501881.......................................................... 562 00501971.......................................................... 570
00501882.......................................................... 562 00501972.......................................................... 570
00501883.......................................................... 562 00501973.......................................................... 570
00501884.......................................................... 562 00501974.......................................................... 570
00501885.......................................................... 562 00501975.......................................................... 571
00501886.......................................................... 562 00501976.......................................................... 571
00501891.......................................................... 562 00501980.......................................................... 571
00501892.......................................................... 562 00501981.......................................................... 571
00501893.......................................................... 563 00501982.......................................................... 571
00501894.......................................................... 563 00501983.......................................................... 571
00501895.......................................................... 563 00501984.......................................................... 571
00501896.......................................................... 563 00501985.......................................................... 571
00501900.......................................................... 566 00501986.......................................................... 571
00501901.......................................................... 566 00501991.......................................................... 571
00501902.......................................................... 566 00501992.......................................................... 571
00501903.......................................................... 566 00501993.......................................................... 572
00501904.......................................................... 566 00501994.......................................................... 572
Index
00501995.......................................................... 572 00508644.......................................................... 618

00501996.......................................................... 572 00508645.......................................................... 618
00508160.......................................................... 610 00508646.......................................................... 618
00508161.......................................................... 610 00508651.......................................................... 618
00508162.......................................................... 610 00508652.......................................................... 618
00508163.......................................................... 610 00508653.......................................................... 619
00508164.......................................................... 610 00508654.......................................................... 619
00508165.......................................................... 610 00508655.......................................................... 619
00508166.......................................................... 610 00508656.......................................................... 619
00508171.......................................................... 610 00508720.......................................................... 619
00508172.......................................................... 610 00508721.......................................................... 619
00508173.......................................................... 611 00508722.......................................................... 619
00508174.......................................................... 611 00508723.......................................................... 619
00508175.......................................................... 611 00508724.......................................................... 619
00508176.......................................................... 611 00508725.......................................................... 619
00508320.......................................................... 612 00508726.......................................................... 619
00508321.......................................................... 612 00508731.......................................................... 620
00508322.......................................................... 612 00508732.......................................................... 620
00508323.......................................................... 612 00508733.......................................................... 620
00508324.......................................................... 612 00508734.......................................................... 620
00508325.......................................................... 612 00508735.......................................................... 620
00508326.......................................................... 612 00508736.......................................................... 620
00508331.......................................................... 612 00508780.......................................................... 620
00508332.......................................................... 612 00508781.......................................................... 620
00508333.......................................................... 613 00508782.......................................................... 620
00508334.......................................................... 613 00508783.......................................................... 620
00508335.......................................................... 613 00508784.......................................................... 620
00508336.......................................................... 613 00508785.......................................................... 620
00508480.......................................................... 614 00508786.......................................................... 621
00508481.......................................................... 614 00508791.......................................................... 621
00508482.......................................................... 614 00508792.......................................................... 621
00508483.......................................................... 614 00508793.......................................................... 621
00508484.......................................................... 614 00508794.......................................................... 621
00508485.......................................................... 614 00508795.......................................................... 621
00508486.......................................................... 614 00508796.......................................................... 621
00508491.......................................................... 614 00508800.......................................................... 622
00508492.......................................................... 614 00508801.......................................................... 622
00508493.......................................................... 615 00508802.......................................................... 622
00508494.......................................................... 615 00508803.......................................................... 622
00508495.......................................................... 615 00508804.......................................................... 622
508496.............................................................. 615 00508805.......................................................... 623
00508600.......................................................... 617 00508806.......................................................... 623
00508601.......................................................... 617 00508811.......................................................... 623
00508602.......................................................... 617 00508812.......................................................... 623
00508603.......................................................... 617 00508813.......................................................... 623
00508604.......................................................... 617 00508814.......................................................... 623
00508605.......................................................... 617 00508815.......................................................... 623
00508606.......................................................... 617 00508816.......................................................... 623
00508611.......................................................... 617 00508820.......................................................... 623
00508612.......................................................... 617 00508821.......................................................... 623
00508613.......................................................... 618 00508822.......................................................... 623
00508614.......................................................... 618 00508823.......................................................... 624
00508615.......................................................... 618 00508824.......................................................... 624
00508616.......................................................... 618 00508825.......................................................... 624
00508640.......................................................... 618 00508826.......................................................... 624
00508641.......................................................... 618 00508831.......................................................... 624
00508642.......................................................... 618 00508832.......................................................... 624
00508643.......................................................... 618 00508833.......................................................... 624
Index
00508834.......................................................... 624 00530016.......................................................... 645

00508835.......................................................... 624 00530018.......................................................... 645
00508836.......................................................... 624 00530032.......................................................... 645
00508840.......................................................... 624 00530033.......................................................... 645
00508841.......................................................... 625 00530050.......................................................... 645
00508842.......................................................... 625 00530051.......................................................... 646
00508843.......................................................... 625 00530052.......................................................... 646
00508844.......................................................... 625 00530055.......................................................... 646
00508845.......................................................... 625 00530056.......................................................... 646
00508846.......................................................... 625 00530057.......................................................... 646
00508851.......................................................... 625 00530058.......................................................... 646
00508852.......................................................... 626 00530059.......................................................... 646
00508853.......................................................... 626 00530074.......................................................... 646
00508854.......................................................... 626 00530085.......................................................... 646
00508855.......................................................... 626 00530086.......................................................... 646
00508856.......................................................... 626 00530087.......................................................... 646
00510017.......................................................... 640 00530089.......................................................... 646
00510019.......................................................... 640 00530090.......................................................... 647
00510020.......................................................... 640 00530091.......................................................... 647
00510021.......................................................... 640 00530092.......................................................... 647
00510022.......................................................... 640 00530093.......................................................... 647
00510026.......................................................... 640 00530095.......................................................... 647
00510027.......................................................... 640 00530096.......................................................... 647
00510102.......................................................... 640 00530097.......................................................... 647
00510108.......................................................... 641 00530098.......................................................... 647
00510110.......................................................... 641 00530150.......................................................... 648
00510111.......................................................... 641 00530151.......................................................... 648
00510113.......................................................... 641 00530200.......................................................... 648
00510114.......................................................... 641 00530201.......................................................... 648
00510116.......................................................... 641 00530202.......................................................... 648
00510118.......................................................... 641 00530203.......................................................... 648
00510202.......................................................... 642 00530204.......................................................... 649
00510207.......................................................... 642 00530205.......................................................... 649
00510208.......................................................... 642 00530206.......................................................... 649
00510209.......................................................... 642 00530207.......................................................... 649
00510210.......................................................... 642 00530208.......................................................... 649
00510211.......................................................... 642 00530211.......................................................... 649
00510213.......................................................... 642 00530212.......................................................... 649
00510214.......................................................... 643 00530219.......................................................... 649
00510216.......................................................... 643 00530261.......................................................... 650
00510217.......................................................... 643 00530262.......................................................... 650
00510218.......................................................... 643 00530263.......................................................... 650
00510219.......................................................... 643 00530264.......................................................... 650
00510230.......................................................... 643 00530423.......................................................... 650
00510231.......................................................... 643 00530425.......................................................... 650
00510234.......................................................... 643 00530426.......................................................... 651
00510235.......................................................... 643 00530427.......................................................... 651
00510238.......................................................... 643 00530428.......................................................... 651
00510239.......................................................... 643 00530450.......................................................... 651
00510242.......................................................... 644 00530475.......................................................... 651
00510243.......................................................... 644 00530479.......................................................... 651
00510244.......................................................... 644 00530480.......................................................... 652
00530010.......................................................... 644 00530486.......................................................... 652
00530011.......................................................... 644 00530526.......................................................... 652
00530012.......................................................... 644 00530527.......................................................... 652
00530013.......................................................... 644 00530528.......................................................... 652
00530014.......................................................... 645 00530529.......................................................... 652
00530015.......................................................... 645 00530569.......................................................... 653
Index
00530663.......................................................... 653 00540203.......................................................... 664

00530664.......................................................... 653 00540204.......................................................... 665
00530665.......................................................... 653 00540205.......................................................... 665
00530666.......................................................... 653 00540206.......................................................... 665
00530667.......................................................... 653 00540207.......................................................... 665
00530668.......................................................... 653 00540208.......................................................... 665
00530669.......................................................... 653 00540211.......................................................... 665
00530727.......................................................... 658 00540212.......................................................... 665
00530728.......................................................... 658 00540219.......................................................... 665
00530729.......................................................... 658 00540261.......................................................... 666
00530732.......................................................... 658 00540262.......................................................... 666
00530733.......................................................... 658 00540263.......................................................... 666
00530734.......................................................... 658 00540264.......................................................... 666
00530739.......................................................... 658 00540423.......................................................... 666
00530742.......................................................... 659 00540425.......................................................... 666
00530743.......................................................... 659 00540426.......................................................... 667
00530744.......................................................... 659 00540427.......................................................... 667
00530745.......................................................... 659 00540428.......................................................... 667
00530746.......................................................... 659 00540450.......................................................... 667
00530747.......................................................... 659 00540475.......................................................... 667
00530752.......................................................... 659 00540479.......................................................... 667
00530753.......................................................... 659 00540480.......................................................... 668
00540010.......................................................... 660 00540486.......................................................... 668
00540011.......................................................... 660 00540526.......................................................... 668
00540012.......................................................... 660 00540527.......................................................... 668
00540013.......................................................... 661 00540528.......................................................... 668
00540014.......................................................... 661 00540529.......................................................... 668
00540015.......................................................... 661 00540569.......................................................... 669
00540016.......................................................... 661 00540663.......................................................... 669
00540018.......................................................... 661 00540664.......................................................... 669
00540032.......................................................... 661 00540665.......................................................... 669
00540033.......................................................... 661 00540666.......................................................... 669
00540050.......................................................... 661 00540667.......................................................... 669
00540051.......................................................... 662 00540668.......................................................... 669
00540052.......................................................... 662 00540669.......................................................... 669
00540055.......................................................... 662 00540727.......................................................... 674
00540056.......................................................... 662 00540728.......................................................... 674
00540057.......................................................... 662 00540729.......................................................... 674
00540058.......................................................... 662 00540732.......................................................... 674
00540059.......................................................... 662 00540733.......................................................... 674
00540074.......................................................... 662 00540734.......................................................... 674
00540085.......................................................... 662 00540739.......................................................... 674
00540086.......................................................... 662 00540742.......................................................... 675
00540087.......................................................... 662 00540743.......................................................... 675
00540089.......................................................... 662 00540744.......................................................... 675
00540090.......................................................... 663 00540745.......................................................... 675
00540091.......................................................... 663 00540746.......................................................... 675
00540092.......................................................... 663 00540747.......................................................... 675
00540093.......................................................... 663 00540752.......................................................... 675
00540095.......................................................... 663 00540753.......................................................... 675
00540096.......................................................... 663 00600110.......................................................... 676
00540097.......................................................... 663
00540098.......................................................... 663 A
00540150.......................................................... 664 A0000 Communication phase 0.......................... 51
00540202.......................................................... 664
Index
A0004 Initialization.............................................. 53 A0129 Cam, encoder 2, virtual master axis........ 67

A0005 Pre-Operational....................................... 53 A0130 Cam, encoder 1, real master axis............ 68
A0006 Safe-Operational..................................... 54 A0131 Cam, encoder 2, real master axis............ 68
A0007 Operational.............................................. 54 A0132 Cam, lagless, encoder 1, virt. master
A0008 sercos: NRT-Mode.................................. 55 axis...................................................................... 68
A0009 Automatic baud rate detection for A0133 Cam, lagless, encoder 2, virt. master
sercos................................................................. 55 axis...................................................................... 69
A0010 Drive HALT.............................................. 55 A0134 Cam, lagless, encoder 1, real master
A0011 STO/SBC active...................................... 56 axis...................................................................... 69
A0012 Control and power sections ready for A0135 Cam, lagless, encoder 2, real master
operation............................................................. 56 axis...................................................................... 69
A0013 Ready for power on................................. 57 A0136 MotionProfile, encoder 1, virtual mas‐
A0022 WAIT_PRM.............................................. 57 ter axis................................................................ 70
A0023 WAIT_CFG.............................................. 58 A0137 MotionProfile, encoder 2, virtual mas‐
A0024 Connection established........................... 58 ter axis................................................................ 70
A0025 Basic ethernet mode................................ 58 A0138 MotionProfile, encoder 2, real master
A0026 Ready to operate..................................... 59 axis...................................................................... 70
A0029 Bootstrap................................................. 59 A0139 MotionProfile, encoder 1, real master
A0030 Hot-plug phase 0..................................... 59 axis...................................................................... 71
A0031 Hot-plug phase 1..................................... 59 A0140 MotionProfile lagless, encoder 1, vir‐
A0032 Hot-plug phase 2..................................... 60 tual master axis................................................... 71
A0040 Communication phase 4.......................... 60 A0141 MotionProfile lagless, encoder 2, vir‐
A0050 Parameterization level 1 active................ 60 tual master axis................................................... 71
A0051 Operating mode....................................... 61 A0142 MotionProfile lagless, encoder 1, real
A0052 STO/SBC not active................................ 61 master axis.......................................................... 72
A0100 Torque control......................................... 61 A0143 MotionProfile lagless, encoder 2, real
A0101 Velocity control........................................ 61 master axis.......................................................... 72
A0102 Position mode, encoder 1........................ 62 A0150 Drive-controlled positioning, encoder 1... 72
A0103 Position mode, encoder 2........................ 62 A0151 Drive-controlled positioning, encoder
A0104 Position mode lagless, encoder 1............ 62 1, lagless............................................................. 73
A0105 Position mode lagless, encoder 2............ 63 A0152 Drive-controlled positioning, encoder 2... 73
A0106 Drive-internal interpolation, encoder 1..... 63 A0153 Drive-controlled positioning, encoder
A0107 Drive-internal interpolation, encoder 2..... 63 2, lagless............................................................. 74
A0108 Drive controlled interpolation, lagless, A0154 Position mode drive controlled, en‐
encoder 1............................................................ 64 coder 1................................................................ 75
A0109 Drive controlled interpolation, lagless, A0155 Position mode drive controlled, en‐
encoder 2............................................................ 64 coder 2................................................................ 75
A0110 Velocity synchronization, virtual mas‐ A0156 Position mode lagless, encoder 1
ter axis................................................................ 64 drive controlled.................................................... 75
A0111 Velocity synchronization, real master A0157 Position mode lagless, encoder 2
axis...................................................................... 65 drive controlled.................................................... 76
A0112 Phase synchronization, encoder 1, A0160 Pos. ctrl drive-controlled with ctrl
virtual master axis............................................... 65 word of axis controller......................................... 76
A0113 Phase synchronization, encoder 2, A0161 Drive-controlled posit. with ctrl word
virtual master axis............................................... 65 of axis controller.................................................. 77
A0114 Phase synchronization, encoder 1, A0162 Positioning block mode............................ 77
real master axis................................................... 65 A0163 Position synchronization.......................... 78
A0115 Phase synchronization, encoder 2, A0164 Velocity synchronization.......................... 78
real master axis................................................... 66 A0165 Position control with control word of
A0116 Phase synchr. lagless, encoder 1, axis controller...................................................... 78
virtual master axis............................................... 66 A0166 Drive-internal interpolat. with ctrl
A0117 Phase synchr. lagless, encoder 2, word of axis controller......................................... 79
virtual master axis............................................... 66 A0206 Positioning block mode, encoder 1.......... 79
A0118 Phase synchr. lagless, encoder 1, re‐ A0207 Positioning block mode lagless, en‐
al master axis...................................................... 67 coder 1................................................................ 79
A0119 Phase synchr. lagless, encoder 2, re‐ A0210 Positioning block mode, encoder 2.......... 80
al master axis...................................................... 67 A0211 Positioning block mode lagless, en‐
A0128 Cam, encoder 1, virtual master axis........ 67 coder 2................................................................ 80
Index
A0300 Condition as supplied SMO: Output A4003 Setting-up mode is active........................ 91

stage locked........................................................ 80 A4010 Drive control command active................. 93
A0301 Special mode Safe motion 1 active......... 81 Ab........................................................................ 45
A0302 Special mode Safe motion 2 active......... 81 AC....................................................................... 45
A0303 Special mode Safe motion 3 active......... 81 Additional documentations.................................. 28
A0304 Special mode Safe motion 4 active......... 82 AE....................................................................... 45
A0305 Special mode Safe motion 5 active......... 82 AF....................................................................... 45
A0306 Special mode Safe motion 6 active......... 82 AH....................................................................... 45
A0307 Special mode Safe motion 7 active......... 83 Appropriate use................................................... 31
A0308 Special mode Safe motion 8 active......... 83 Applications.................................................... 31
A0309 Special mode Safe motion 9 active......... 83 AR....................................................................... 45
A0310 Special mode Safe motion 10 active....... 84 AU....................................................................... 45
A0311 Special mode Safe motion 11 active....... 84
A0312 Special mode Safe motion 12 active....... 84 B
A0313 Special mode Safe motion 13 active....... 85 bb.................................................................. 45, 47
A0314 Special mode Safe motion 14 active....... 85 Bb........................................................................ 47
A0315 Special mode Safe motion 15 active....... 85 BEM.................................................................... 45
A0316 Special mode Safe motion 16 active....... 86
A0320 EMERGENCY STOP active.................... 86 C
A0321 Special mode Safe standstill active C0100 Communication phase 3 transition
with STO............................................................. 86 check................................................................. 321
A0322 Special mode Safe standstill active C0101 Invalid parameters (-> S-0-0021).......... 341
with SOS............................................................. 86 C0102 Limit error in parameter (->
A0323 SMO configuration mode active.............. 87 S-0-0021).......................................................... 342
A0324 SMO: Normal operation........................... 87 C0103 Parameter conversion error (-
A0325 SMO parameter mode active................... 87 >S-0-0021)........................................................ 342
A0326 SMO parking axis active.......................... 87 C0104 Config. IDN for MDT not configurable... 343
A0327 SMO not active: Output stage not C0105 Maximum length for MDT exceeded..... 343
locked.................................................................. 88 C0106 Config. IDNs for AT not configurable..... 344
A0403 Quick stop with probe detection is ac‐ C0107 Maximum length for AT exceeded......... 344
tive...................................................................... 88 C0108 Time slot parameter > sercos cycle
A0500 Supply module in voltage control............. 88 time................................................................... 344
VM Lb........................................................... 475 C0109 Telegram offset unsuitable.................... 345
A0501 Supply module in current control............. 88 C0110 Length of MDT (S-0-0010) odd............. 345
A0502 Supply module in operation..................... 89 C0111 ID9 + Record length - 1 > length
VM Lb........................................................... 475 MDT (S-0-0010)................................................ 346
A0503 DC bus charging active........................... 89 C0112 Set timing not permissible..................... 346
VM charg...................................................... 475 C0113 Relation TNcyc (S-0-0001) to TScyc
A0504 Control section ready for oper., (S-0-0002) error................................................ 347
mains voltage not available................................. 89 C0114 T4 > TScyc (S-0-0002) - T4min
A0505 Power supply module ready for oper‐ (S-0-0005)......................................................... 348
ation.................................................................... 89 C0115 T2 too small........................................... 348
A0506 Supply module in rectifier mode.............. 89 C0116 T3 (S-0-0008) within MDT (S-0-0089
A0520 DC bus quick discharge active................ 90 + S-0-0010)....................................................... 348
VM ZKS........................................................ 475 C0118 Order of cyclic command value con‐
A0800 Unknown operating mode figuration incorrect............................................ 349
VM AF.......................................................... 476 C0132 Invalid settings for controller cycle
A4008 "Drive off" delay time............................... 93 times................................................................. 349
A4007 "Drive on" delay time............................... 92 C0133 Master communication: Address con‐
A4000 Automatic drive check and adjustment.... 90 flict..................................................................... 350
A4005 Drive decelerated by motor phase C0139 T2 (S-0-0089)+length MDT
short circuit.......................................................... 92 (S-0-0010)>TScyc (S-0-0002)........................... 350
A4006 Drive decelerated in a controlled way...... 92 C0151 IDN for command value data contain‐
A4001 Drive deceleration to standstill................. 90 er not allowed.................................................... 351
A4002 Drive in automatic mode.......................... 91 C0152 IDN for actual value data container
A4004 Drive without drive enable....................... 91 not allowed........................................................ 351
A4009 Motor phase short circuit with drive
enable switched off............................................. 93
Index
C0170 Config. IDNs for connection not con‐ C0231 Field bus: IDN for cycl. actual val. not
figurable............................................................ 352 configurable...................................................... 367
C0171 Maximum length for connections ex‐ C0232 Field bus: Length for cycl. actual val‐
ceeded.............................................................. 352 ues exceeded.................................................... 368
C0172 Delay measurement (S-0-1024) not C0233 Field bus: Tcyc (P-0-4076) incorrect..... 368
carried out......................................................... 352 C0234 Field bus: P-0-4077 missing for cycl.
C0173 Connections (number) not configura‐ command values............................................... 368
ble..................................................................... 353 C0238 Order of cyclic command value con‐
C0174 Connection configuration not allowed... 353 figuration incorrect............................................ 369
C0175 Producer cycle time of a connection C0239 IDN for command value data contain‐
not correct......................................................... 353 er not allowed.................................................... 369
C0200 Exit parameterization level procedure C0240 IDN for actual value data container
command.......................................................... 321 not allowed........................................................ 370
C0201 Invalid parameters (->S-0-0423)........... 354 C0241 Incorrect parameterization of motion
C0202 Parameter limit error (->S-0-0423)........ 354 task................................................................... 370
C0203 Parameter conversion error (- C0242 Multiple configuration of a parameter
>S-0-0423)........................................................ 354 (->S-0-0423)...................................................... 371
C0204 Inadmissible motor-amplifier combi‐ C0243 Brake check function not possible......... 372
nation................................................................ 355 C0244 Act. modulo value cycle greater than
C0205 Invalid power parameters (-> log‐ max. travel range.............................................. 373
book)................................................................. 355 C0245 Operation mode configuration (-
C0206 Error when accessing machine ar‐ >S-0-0423) not allowed..................................... 373
chive.................................................................. 355 C0250 Probe inputs incorrectly configured....... 374
C0207 Machine archive is not up-to-date......... 356 C0251 Error during synchronization to mas‐
C0208 Combination of actuator syst./encod‐ ter communication............................................. 374
er scaling not supported.................................... 357 C0252 Incorrect MLD initialization (write ac‐
C0209 Incorrect encoder configuration............. 357 cess->S-0-0423)............................................... 375
C0210 Feedback 2 required (->S-0-0423)........ 358 C0253 Error in combination operation mode
C0211 Invalid encoder configuration (3 ac‐ - encoder (->S-0-0423)..................................... 375
tive encoders)................................................... 358 C0256 Safety technology configuration error.... 376
C0212 Invalid control section data (- C0258 Error in relation TNcyc (S-0-0001) to
>S-0-0423)........................................................ 358 fine interpol....................................................... 376
C0213 SMO: Incorrect parameterization.......... 359 C0259 MLD configuration error (->S-0-0423)... 377
C0214 SMO: Incorrect configuration................. 359 C0260 Incremental enc. emulator resol. can‐
C0215 SMO: Error in encoder initialization....... 362 not be displayed................................................ 378
C0216 SMO: SCM-OM switching not al‐ C0263 Serial number of motor has changed.... 379
lowed................................................................. 362 C0265 Incorrect CCD address configuration.... 379
C0219 Max. travel range too large.................... 362 C0266 Incorrect CCD phase switch.................. 380
C0220 Error when initializing position of en‐ C0267 CCD timeout phase switch.................... 380
coder 1.............................................................. 363 C0270 Error when reading encoder data =>
C0221 Initialization velocity encoder 1 too encoder 1.......................................................... 381
high................................................................... 363 C0271 Incorrect encoder 1 parameterization.... 382
C0222 Error during motor encoder initializa‐ C0272 Incorrect encoder 1 parameterization
tion.................................................................... 364 (mechanics)...................................................... 383
C0223 Invalid settings for controller cycle C0273 Modulo value for encoder 1 cannot
times................................................................. 364 be displayed...................................................... 383
C0224 Error when initializing position of en‐ C0274 Encoder 1 unknown............................... 384
coder 2.............................................................. 365 C0275 Error when reading encoder data =>
C0225 Initialization velocity encoder 2 too encoder 2.......................................................... 384
high................................................................... 365 C0276 Incorrect encoder 2 parameterization.... 386
C0227 Error when initializing position of C0277 Incorrect encoder 2 parameterization
measuring encoder........................................... 366 (mechanics)...................................................... 386
C0228 Initialization velocity measuring en‐ C0278 Modulo value for encoder 2 cannot
coder too high................................................... 366 be displayed...................................................... 387
C0229 Field bus: IDN for cycl. command val. C0279 Encoder 2 unknown............................... 387
not configurable................................................ 367 C0280 Maximum travel range cannot be dis‐
C0230 Field bus: Max. length for cycl. com‐ played internally................................................ 388
mand val. exceeded.......................................... 367 C0281 Commutation resolution too small......... 389
Index
C0282 Sensorless posit. of synchr. motors, C0603 Homing impossible with optional en‐
invalid ctrl parameters....................................... 389 coder................................................................. 402
C0283 Error during initialization of motor C0604 Homing impossible with absolute en‐
control (->S-0-0423).......................................... 389 coder................................................................. 403
C0284 Invalid motor data in encoder memo‐ C0606 Reference mark not detected................ 403
ry (->S-0-0423).................................................. 390 C0607 Reference cam input not assigned........ 404
C0285 Type of construction of motor C0608 Pos. stop a. HW lim. switch not al‐
P-0-4014 incorrect............................................ 390 lowed f. modulo axes........................................ 404
C0286 Several motor encoders connected....... 391 C0609 Different travel directions parameter‐
C0287 Error during initialization of motor da‐ ized................................................................... 404
ta (->S-0-0423).................................................. 391 C0610 Absolute encoder offset could not be
C0288 Rotary scaling not allowed.................... 392 saved................................................................ 405
C0289 Error at init. of synchr. motor with re‐ C0611 Travel range greater than absolute
luctance torque................................................. 392 range (distance-coded)..................................... 405
C0290 Error when reading encoder data => C0700 Load defaults proced. command
measuring encoder........................................... 393 (motor-spec. controller val.).............................. 322
C0291 Incorr. parameterization of measur‐ C0702 Default parameters not available........... 406
ing enc. (hardware)........................................... 394 C0703 Default parameters invalid..................... 406
C0292 Measuring encoder unknown................ 395 C0704 Parameters not copyable...................... 406
C0293 Modulo value for measuring encoder C0706 Error when reading the controller pa‐
cannot be displayed.......................................... 396 rameters............................................................ 407
C0294 Incorrect measuring encoder configu‐ C0710 Command Load power-supply specif‐
ration................................................................. 396 ic controller values............................................ 323
C0295 Internal display error during scaling C0711 Loading requires determination of
conversion (NM)................................................ 397 system parameters........................................... 407
C0296 Error in initialization of absolute en‐ C0720 SMO: Load defaults procedure com‐
coder monitoring............................................... 397 mand................................................................. 324
C0297 Encoder type not possible for selec‐ C0721 SMO: Load defaults procedure not
ted constr. type of motor................................... 397 possible............................................................. 407
C0298 Impossible to exit parameterization C0722 SMO: Error in load defaults proce‐
level................................................................... 398 dure................................................................... 408
C0299 Configuration changed. Restart............. 398 C0723 SMO: Error in deactivation.................... 408
C0300 Set absolute position procedure com‐ C0730 Load defaults procedure command
mand................................................................. 321 (MLD)................................................................ 324
C0301 Measuring system unavailable.............. 399 C0740 Command Activate field bus profile
C0302 Absolute evaluation of measuring settings.............................................................. 325
system impossible............................................. 399 C0743 Error in activation of field bus profile
C0303 Absolute encoder offset cannot be settings.............................................................. 408
saved................................................................ 400 C0750 Load defaults procedure command
C0304 Command cannot be executed under (factory settings)............................................... 325
drive enable...................................................... 400 C0751 Parameter default value incorrect (->
C0400 Activate parameterization level 1 pro‐ S-0-0423).......................................................... 409
cedure command.............................................. 321 C0752 Locked with password........................... 409
C0401 Switching not allowed............................ 400 C0761 Factory default values incorrect (-
C0403 Switching to CCD phase 2 impossi‐ >S-0-0423)........................................................ 409
ble..................................................................... 401 C0762 Locked with password........................... 410
C0404 SMO: Incorrect change of system C0763 Load defaults procedure (application
state.................................................................. 401 data), invalid param.......................................... 410
C0500 Reset class 1 diagnostics, error reset... 322 C0799 An invalid index was set........................ 410
C0501 Error clearing only in parameter C0900 Position spindle command.................... 326
mode................................................................. 401 C0902 Spindle positioning requires drive
C0600 Drive-controlled homing procedure enable............................................................... 411
command.......................................................... 322 C0903 Error during initialization........................ 411
C0601 Homing only possible with drive C0906 Error during search for zero pulse......... 411
enable............................................................... 402 C1200 Commutation offset setting com‐
C0602 Distance home switch - reference mand................................................................. 326
mark erroneous................................................. 402 C1204 Error in offset calculation....................... 412
Index
C1208 No adjustment with asynchronous C2105 Load of holding system greater than
motor................................................................. 412 test torque......................................................... 425
C1209 Proceed to phase 4............................... 413 C2106 Test torque of holding system not
C1211 Commutation offset could not be de‐ reached............................................................. 426
termined............................................................ 413 C2108 Error when releasing the holding sys‐
C1212 Motion range exceeded during com‐ tem.................................................................... 428
mutation............................................................ 413 C2200 Backup working memory procedure
C1214 Command only possible with linear command.......................................................... 328
synchronous motor........................................... 414 C2202 Error when writing data to non-vola‐
C1215 Command only possible in 'bb'.............. 414 tile memory....................................................... 429
C1216 Commutation determination not se‐ C2300 Load working memory procedure
lected................................................................ 414 command.......................................................... 329
C1217 Setting only possible in 'Ab'................... 415 C2301 Error when reading non-volatile
C1218 Automatic commutation: Current too memory............................................................. 429
low..................................................................... 415 C2302 Error when converting parameters........ 429
C1219 Automatic commutation: Overcurrent.... 416 C2400 Selectively backup working memory
C1220 Automatic commutation: Timeout.......... 416 procedure command......................................... 329
C1221 Automatic commutation: Iteration C2402 Error when saving parameters.............. 430
without result..................................................... 416 C2800 Analog input adjustment command....... 329
C1222 Error when writing offset parameters.... 417 C2801 Analog input not configured................... 430
C1223 Command execution impossible........... 417 C2802 Oscillations of input signal outside
C1224 Zero point shifting only possible in tolerance range................................................. 430
parameter mode................................................ 418 C2803 Measured values at zero point and
C1225 Zero point shifting only possible with max. value identical.......................................... 431
master password............................................... 418 C2804 Automatic adjustment failed.................. 431
C1300 Positive stop drive procedure com‐ C3100 Recalculate actual value cycle.............. 330
mand................................................................. 326 C3101 Act. modulo value cycle greater than
C1301 Class 1 diagnostics error at com‐ max. travel range.............................................. 431
mand start......................................................... 418 C3102 Drive is still in drive enable.................... 431
C1400 Command Get marker position............. 326 C3200 Command Calculate motor data............ 330
C1402 Faulty reference mark signal................. 419 C3201 Incorrect input for current...................... 432
C1500 Cancel reference point procedure C3202 Incorrect input for voltage...................... 432
command.......................................................... 327 C3203 Incorrect input for frequency.................. 432
C1600 Parking axis command.......................... 327 C3204 Incorrect input for speed........................ 433
C1800 Command Drive optimization/ C3205 Incorrect input for power factor.............. 433
command value box.......................................... 327 C3206 Incorrect input for power........................ 433
C1801 Start requires drive enable.................... 419 C3207 Type plate list incomplete...................... 434
C1802 No useful motor data............................. 419 C3208 Error when writing parameters (-
C1803 Inertia detection failed........................... 420 >S-0-0423)........................................................ 434
C1804 Automatic controller setting failed......... 421 C3209 Command execution impossible........... 434
C1805 Travel range invalid............................... 421 C3300 Set coordinate system procedure
C1806 Travel range exceeded.......................... 422 command.......................................................... 330
C1807 Determining travel range only via C3400 Shift coordinate system procedure
travel distance................................................... 422 command.......................................................... 331
C1808 Drive not homed.................................... 423 C3600 Command Motor data identification....... 331
C1809 Command start only possible with ac‐ C3601 Motor not or not correctly connected..... 435
tive position limits.............................................. 423 C3602 Determined values invalid..................... 435
C1810 Drive optimization incorrectly config‐ C3603 Device current limit too low................... 435
ured................................................................... 423 C3604 Error when writing parameters (-
C2001 Command not enabled.......................... 424 >S-0-0423)........................................................ 436
C2000 Command Release motor holding C3605 Motor turning......................................... 436
brake................................................................. 328 C3606 Type of construction of motor not al‐
C2100 Command Holding system check.......... 328 lowed................................................................. 437
C2101 Holding system check only possible C3607 Motor revolution/motion impeded.......... 437
with drive enable............................................... 424 C3608 Incorrect motor phases or rotational
C2103 Holding brake: Torque too low.............. 424 direction of encoder.......................................... 437
C2104 Command execution impossible........... 425 C3609 Incorrect number of pole pairs or
number of encoder lines................................... 438
Index
C3610 No encoder: Validation check impos‐ C4804 Cogging torque comp.: Err. when
sible................................................................... 438 storing corr. val table......................................... 448
C3611 Test velocity not reached...................... 439 C4805 Cogging torque comp.: Motor meas‐
C3612 Command execution impossible........... 439 uring system not homed.................................... 448
C3800 Command Apply motor holding C4806 Cogging torque compensation:
brake................................................................. 332 Measuring range invalid.................................... 448
C3900 Command Holding brake resurfacing.... 332 C4900 PLC command....................................... 334
C3901 Resurfacing of holding brake only C4901 PLC command error no. 1..................... 449
possible with drive enable................................. 440 C4902 PLC command error no. 2..................... 449
C3902 Error during resurfacing of holding C4903 PLC command error no. 3..................... 449
brake................................................................. 440 C4904 PLC command error no. 4..................... 450
C3903 Command execution impossible........... 441 C4910 PLC command timeout.......................... 450
C4001 Encoder evaluation error during Safe C5200 Communication phase 4 transition
homing procedure............................................. 441 check................................................................. 334
C4004 Faulty SMO reference signal................. 442 C5300 sercos: Command SYNC delay
C4003 Home switch distance below mini‐ measurement.................................................... 335
mum value........................................................ 442 C5301 sercos: Delay measurement failed........ 450
C4002 Incorrect SMO position feedback val‐ C5600 Command Subsequent optimization
ue...................................................................... 441 of commutation offset........................................ 335
C4000 SMO: Safe homing procedure com‐ C5601 Command requires drive enable........... 451
mand................................................................. 332 C5602 Axis blocked.......................................... 451
C4100 Switch parameter set command............ 332 C5603 Timeout: Axis in motion......................... 451
C4101 Switching only possible without AF....... 443 C6100 Command Activate IP settings.............. 335
C4103 Preselect parameter set forbidden C6101 Incorrect IP settings............................... 452
value................................................................. 443 C6300 Generate type plate command.............. 336
C4104 Error during parameter set switching C6301 Command is password-protected.......... 452
(->S-0-0423)...................................................... 443 C6302 IDN not permissible (->S-0-0423).......... 453
C4200 Drive-controlled oscillation command.... 333 C6303 Insufficient memory............................... 453
C4201 Oscillation requires drive enable........... 444 C6304 Type plate unknown.............................. 454
C4202 Oscillation command speed cannot C6305 General type plate generation error...... 454
be reached........................................................ 444 C6310 Command not possible with this en‐
C4300 NC-controlled homing procedure coder type......................................................... 454
command.......................................................... 333 C6311 Error when accessing encoder mem‐
C4302 Distance home switch - reference ory..................................................................... 455
mark erroneous................................................. 444 C6400 Reboot command.................................. 336
C4304 Homing impossible with absolute en‐ C6401 reboot command impossible................. 455
coder................................................................. 445 C6500 Archive device data............................... 337
C4306 Reference mark not detected................ 445 C6501 Error when creating machine archive.... 455
C4307 Reference cam input not assigned........ 446 C6502 Error when reading device data............ 456
C4308 Pos. stop a. HW lim. switch not al‐ C6503 Inconsistent backup of machine ar‐
lowed f. modulo axes........................................ 446 chive.................................................................. 456
C4400 Calculate displacement procedure C6504 MLD boot project not on memory
command.......................................................... 333 card................................................................... 457
C4500 Displacement to referenced system C6600 Restore device data.............................. 337
procedure command......................................... 333 C6601 Error when accessing machine ar‐
C4600 Command Calculate motor control chive.................................................................. 457
parameters........................................................ 334 C6602 Error when writing device data.............. 458
C4601 Error when writing parameters (- C6604 Error when reading device data............ 459
>S-0-0423)........................................................ 446 C6605 Device data incompletely restored........ 459
C4800 Command Determine cogging torque C6606 PLC user program is active................... 460
compensation table........................................... 334 C6700 Update of device data........................... 337
C4801 Cogging torque compensation: C6701 Error when accessing update archive... 460
Measuring vel. too high..................................... 447 C6702 Error when writing device data.............. 461
C4802 Cogging torque compensation: C6703 Warning - Incomplete update of de‐
Measuring vel. too low...................................... 447 vice data............................................................ 462
C4803 Cogging torque compensation: Inad‐ C6704 Machine archive is not up-to-date......... 463
missible acceleration......................................... 447 C6706 PLC user program is active................... 464
Index
C6800 Control command device data archiv‐ C9101 Confirm power section configuration
ing..................................................................... 338 command error.................................................. 473
C7000 CCD: Command adjust slave ad‐ C9900 Service function command.................... 341
dresses............................................................. 338 C9901 Command execution impossible........... 474
C7001 CCD: Impossible to adjust slave ad‐ CFG..................................................................... 45
dresses............................................................. 464 charg................................................................... 47
C7100 CCD: Command Close ring................... 338 CM....................................................................... 45
C7101 CCD: Impossible to close ring............... 464 Commutation offset setting............................... 326
C7200 CCD: Command Apply I/O configura‐ CON.................................................................... 45
tion.................................................................... 338 Confirm SMO-Identification?............................. 511
C7201 CCD: Impossible to apply I/O config‐ Connection error mains choke, F8813.............. 483
uration............................................................... 465 Contactor control error, F2834.......................... 480
C7400 CCD: Switching to phase 2................... 338 Contactor monitoring error, F2837.................... 480
C7401 CCD: Impossible to switch to phase
2........................................................................ 465 D
C7500 CCD: Switching to phase 4................... 339 DC bus charging active, A0503........................ 475
C7501 CCD: Impossible to switch to phase DC bus quick discharge active, A0520............. 475
4........................................................................ 465 DCC.................................................................... 45
C7600 Command Create parameter image...... 339 Detailed Diagnostics........................................... 43
C7601 Memory access impossible................... 466 Device overload shutdown, F8057.................... 482
C7602 Slave access impossible....................... 466 Diagnostic display
C8000 SMO: Command Apply scaling............. 339 KCU02 (LED H49, H52.1…H54).................. 495
C8001 SMO: Invalid scaling parameters - KMV (LED H14)........................................... 497
>S-0-0423......................................................... 467 KSM/KMS (LED H14).................................. 486
C8002 SMO: Not allowed to apply scaling........ 467 Diagnostic Memory............................................. 43
C8100 SMO: Command Activate configura‐ Documentation
tion mode.......................................................... 339 Additional documentations............................. 28
C8101 SMO: Command execution impossi‐ Overview........................................................ 28
ble..................................................................... 467 Reference documentations............................ 28
C8200 SMO: Command Exit configuration Drive system....................................................... 33
mode................................................................. 340
C8213 SMO: Incorrect parameterization.......... 467 E
C8214 SMO: Incorrect configuration................. 468 E2001 Diagnostic trace S-0-1303.0.10 over‐
C8215 SMO: Incorrect encoder/scaling con‐ flow warning...................................................... 283
figuration........................................................... 470 E2005 One-time telegram failure, power
C8300 SMO: Command Activate parameter section parallel bus........................................... 284
image................................................................ 340 E2004 Performance load prewarning thresh‐
C8301 SMO: Incorrect parameter image.......... 470 old exceeded..................................................... 283
C8302 SMO: Parameter image presently E2008 Position control with encoder 1 not
cannot be applied.............................................. 471 possible............................................................. 284
C8400 SMO: Command Apply encoder con‐ E2009 Synchronous velocity command val‐
figuration........................................................... 340 ue > limit value.................................................. 284
C8401 SMO: Impossible to apply encoder E2010 Position control with encoder 2 not
type................................................................... 471 possible............................................................. 285
C8402 SMO: Impossible to apply encoder E2011 PLC - Warning no. 1.............................. 285
configuration..................................................... 471 E2012 PLC - Warning no. 2.............................. 286
C8403 SMO: Parameter for applying encod‐ E2013 PLC - Warning no. 3.............................. 286
er configuration invalid...................................... 472 E2014 PLC - Warning no. 4.............................. 286
C8500 SMO: Command Apply identification E2015 PLC - Warning no. 5.............................. 287
data................................................................... 340 E2016 PLC - Warning no. 6.............................. 287
C8501 SMO: Impossible to apply axis identi‐ E2017 PLC - Warning no. 7.............................. 288
fication............................................................... 472 E2020 Differing DC bus voltages with paral‐
C8502 SMO: Impossible to apply TUNID......... 472 lel connection.................................................... 288
C8600 SMO: Command Measure position E2021 Motor temperature outside of meas‐
difference.......................................................... 340 uring range........................................................ 288
C8601 SMO: Encoder evaluation is inactive..... 473 E2022 Collective warning of power section...... 289
C9100 Confirm power section configuration
command.......................................................... 340
Index
E2023 Current unbalance in parallel connec‐ E2819 Mains failure.......................................... 316

tion.................................................................... 289 E2820 Braking resistor overload prewarning.... 317
E2024 Device fan defective.............................. 289 E2822 Mains connection temperature moni‐
E2026 Undervoltage in power section.............. 290 toring defective.................................................. 317
E2031 Encoder 1 warning: Signal amplitude E2829 Not ready for power on.......................... 318
incorrect............................................................ 290 E2834 Switching off via OFF input.................... 318
E2037 Excessive position command differ‐ E2841 Prewarning: Mains connection over‐
ence warning..................................................... 291 temperature....................................................... 319
E2040 Device overtemperature 2 prewarn‐ E3112 Safe reference missing.......................... 280
ing..................................................................... 292 E3113 Prewarning: End of reference posi‐
E2042 Encoder 2 warning: Encoder signals tion check time interval..................................... 281
incorrect............................................................ 293 E3115 Prewarning, end of brake check time
E2043 Measuring encoder warning: Encoder interval.............................................................. 282
signals incorrect................................................ 294 E3460 PROFIsafe: Wrong F-module selec‐
E2048 Low battery voltage (encoder)............... 295 ted..................................................................... 282
E2049 Positioning velocity >= limit value.......... 295 E4006 Communication module overload.......... 272
E2050 Device overtemp. prewarning................ 296 E4009 Invalid addressing actual value data
E2051 Motor overtemp. prewarning.................. 297 container A........................................................ 273
E2053 Target position out of travel range......... 298 E4008 Invalid addressing command value
E2054 Not homed............................................. 299 data container A................................................ 273
E2055 Feedrate override S-0-0108 = 0............ 300 E4005 No command value input via master
E2056 Torque limit = 0...................................... 301 communication.................................................. 271
E2058 Selected positioning block has not E4002 RTD telegram failure............................. 270
been programmed............................................. 301 E4007 sercos: Consumer connection failed..... 272
E2059 Velocity command value limit active...... 302 E4001 Sync telegram failure............................. 270
E2061 Device overload prewarning.................. 303 E4010 Slave not scanned or address 0............ 274
E2063 Velocity command value > limit value.... 304 E4011 Communication watchdog: Overload
E2070 Acceleration limit active......................... 304 of cyclic communication.................................... 274
E2074 Encoder 1: Encoder signals distur‐ E4012 Maximum number of CCD slaves ex‐
bed.................................................................... 305 ceeded.............................................................. 274
E2075 Encoder 2: Encoder signals distur‐ E4013 Incorrect CCD addressing..................... 275
bed.................................................................... 306 E4014 Incorrect phase switch of CCD
E2076 Measuring encoder: Encoder signals slaves................................................................ 275
disturbed........................................................... 307 E4016 CCD: Topology error............................. 276
E2077 Absolute encoder monitoring, encod‐ E4017 CCD: Unknown I/O configuration.......... 277
er 1 (encoder alarm)......................................... 308 E4020 sercos: Ring interruption (FF to LF)....... 277
E2078 Absolute encoder monitoring, opt. E4021 CCD: Not all slaves support SWC......... 278
encoder (encoder alarm)................................... 308 E4040 sercos: Hot-plug error............................ 278
E2079 Absolute enc. monitoring, measuring E4041 sercos: HP0 Cycle Time invalid............. 278
encoder (encoder alarm)................................... 309 E4042 sercos: HP0 MDT length invalid............ 279
E2086 Prewarning supply module overload..... 309 E4043 sercos: HP0 AT length invalid............... 279
E2092 Internal synchronization defective......... 310 E4044 sercos: HP0 MTU size invalid................ 279
E2099 Power section warning.......................... 311 E4045 sercos: HP0 NRT window invalid.......... 279
E2100 Positioning velocity of master axis E4046 sercos: HP supported removed............. 280
generator too high............................................. 311 E4047 sercos: HP enabled removed................ 280
E2140 CCD error at node................................. 311 E8022 Encoder 1: Encoder signals incorrect.... 257
E2266 Restoring device data requires con‐ E8023 Encoder 2: Encoder signals incorrect.... 257
trol panel action................................................. 312 E8025 Overvoltage in power section................ 258
E2267 Updating device data requires control E8026 Undervoltage in power section.............. 259
panel action....................................................... 313 E8027 STO/SBC while drive enabled............... 259
E2667 Machine archive is not up-to-date......... 314 E8028 Overcurrent in power section................. 260
E2810 Drive system not ready for operation..... 315 E8029 Positive position limit exceeded............. 260
E2811 Overtemp. in mains connection mod‐ E8030 Negative position limit exceeded........... 261
ule/soft start module.......................................... 315 E8034 Emergency-Stop activated.................... 262
E2814 Undervoltage in mains........................... 316 E8040 Torque/force actual value limit active.... 263
E2816 Undervoltage in power section.............. 316 E8041 Current limit active................................. 263
E2818 Phase failure E8042 Both travel range limit switches acti‐
VM E2818.................................................... 476 vated................................................................. 263
Index
E8043 Positive travel range limit switch acti‐ F0C4 (CiA): F7033............................................ 153
vated................................................................. 264 F0C5 (CiA): F7034............................................ 154
E8044 Negative travel range limit switch ac‐ F0C6 (CiA): F7035............................................ 154
tivated............................................................... 265 F0C7 (CiA): F7050............................................ 155
E8055 Motor overload, current limit active........ 266 F0C8 (CiA): F7051............................................ 157
E8057 Device overload, current limit active...... 267 F0C9 (CiA): F7052............................................ 159
E8058 Drive system not ready for operation..... 267 F0CA (CiA): F7100........................................... 159
E8260 Torque/force command value limit F0CC (CiA): F8027........................................... 110
active................................................................. 268 F0CD (CiA): F8300........................................... 124
E8300 SMO: Error within the safety zone......... 269 F0CE (CiA): F8301........................................... 125
E8399 Error in processing of diagnostic F0CF (CiA): F8302............................................ 126
message........................................................... 269 F0D0 (CiA): F8303............................................ 126
E8802 PLL is not synchronized F0D1 (CiA): F8304............................................ 127
VM E8802.................................................... 476 F0D2 (CiA): F8313............................................ 127
E8814 Undervoltage in mains F0D3 (CiA): F8314............................................ 127
VM E8814.................................................... 477 F0D4 (CiA): F8315............................................ 129
E8815 Overvoltage in mains F0D5 (CiA): F8316............................................ 130
VM E8815.................................................... 477 F0D6 (CiA): F8319............................................ 130
E8818 Phase failure F0D7 (CiA): F8320............................................ 130
VM E8818.................................................... 477 F0D8 (CiA): F8321............................................ 130
E8819 Mains failure.......................................... 269 F0D9 (CiA): F8323............................................ 131
Electric drive system........................................... 33 F0DA (CiA): F8324........................................... 131
Error Memory...................................................... 43 F0DB (CiA): F8330........................................... 132
Error messages of serial communication.......... 254 F0DC (CiA): F8350........................................... 132
Error supply shutdown, F2840.......................... 481 F0DD (CiA): F8351........................................... 133
Error/Diagnostic Memory.................................... 43 F0DE (CiA): F8352........................................... 134
F0DF (CiA): F8353............................................ 134
F F0E0 (CiA): F8354............................................ 135
F0A6 (CiA): F3010............................................ 185 F0E1 (CiA): F8355............................................ 136
F0A7 (CiA): F3100............................................ 186 F0E2 (CiA): F8356............................................ 136
F0A8 (CiA): F3101............................................ 186 F0E4 (CiA): F8359............................................ 136
F0A9 (CiA): F3112............................................ 186 F0E5 (CiA): F8395............................................ 137
F0AA (CiA): F3115............................................ 187 F0E7 (CiA): E3112............................................ 280
F0AB (CiA): F3119............................................ 187 F0E8 (CiA): E3115............................................ 282
F0AC (CiA): F3131........................................... 188 F0EB (CiA): E8027........................................... 259
F0AD (CiA): F3132........................................... 188 F08A (CiA): E2016............................................ 287
F0AE (CiA): F3134............................................ 189 F08B (CiA): E2017............................................ 288
F0AF (CiA): F3141............................................ 190 F08C (CiA): F2011............................................ 205
F0B0 (CiA): F3142............................................ 191 F08D (CiA): F2012............................................ 205
F0B1 (CiA): F3150............................................ 191 F08E (CiA): F2013............................................ 206
F0B2 (CiA): F3151............................................ 192 F08F (CiA): F2014............................................ 206
F0B3 (CiA): F3152............................................ 192 F09A (CiA): F4034............................................ 182
F0B4 (CiA): F3153............................................ 192 F09B (CiA): F6034............................................ 169
F0B5 (CiA): F3304............................................ 194 F083 (CiA): E8300............................................ 269
F0B6 (CiA): F3360............................................ 194 F084 (CiA): F2010............................................ 204
F0B7 (CiA): F3450............................................ 195 F085 (CiA): E2011............................................ 285
F0B8 (CiA): F3451............................................ 196 F086 (CiA): E2012............................................ 286
F0BA (CiA): F4150............................................ 184 F087 (CiA): E2013............................................ 286
F0BB (CiA): F7010............................................ 145 F088 (CiA): E2014............................................ 286
F0BC (CiA): F7011........................................... 146 F089 (CiA): E2015............................................ 287
F0BD (CiA): F7012........................................... 147 F090 (CiA): F2015............................................ 207
F0BE (CiA): F7013............................................ 148 F091 (CiA): F2016............................................ 207
F0BF (CiA): F7014............................................ 148 F092 (CiA): F2017............................................ 207
F0C0 (CiA): F7020............................................ 149 F093 (CiA): F2055............................................ 222
F0C1 (CiA): F7030............................................ 151 F094 (CiA): F2067............................................ 226
F0C2 (CiA): F7031............................................ 152 F095 (CiA): F2270............................................ 244
F0C3 (CiA): F7032............................................ 153 F098 (CiA): F6007............................................ 164
F099 (CiA): F6010............................................ 165
Index
F2002 Assignment of encoder for synchroni‐ F2063 Internal overflow master axis genera‐
zation is not allowed.......................................... 199 tor...................................................................... 226
F2005 Cam table invalid................................... 202 F2064 Incorrect cmd value direction master
F2001 Communication error, power section axis generator................................................... 226
parallel bus........................................................ 199 F2067 Synchronization to master communi‐
F2004 Error in MotionProfile............................. 200 cation incorrect.................................................. 226
F2003 Motion step skipped............................... 200 F2068 Brake error............................................. 227
F2009 PL Load parameter default values......... 203 F2072 Error in power supply of brake............... 228
F2008 RL The motor type has changed........... 203 F2074 Actual pos. value 1 outside absolute
F2007 Switching to non-initialized operation encoder window................................................ 228
mode................................................................. 202 F2075 Actual pos. value 2 outside absolute
F2010 Error when initializing digital I/O (-> encoder window................................................ 229
S-0-0423).......................................................... 204 F2076 Actual pos. value 3 outside absolute
F2011 PLC - Error no. 1.................................... 205 encoder window................................................ 230
F2012 PLC - Error no. 2.................................... 205 F2077 Current measurement trim wrong.......... 231
F2013 PLC - Error no. 3.................................... 206 F2086 Error supply module............................... 231
F2014 PLC - Error no. 4.................................... 206 F2087 Module group communication error....... 232
F2015 PLC - Error no. 5.................................... 207 F2100 Incorrect access to command value
F2016 PLC - Error no. 6.................................... 207 memory............................................................. 232
F2017 PLC - Error no. 7.................................... 207 F2101 File system structure error on the
F2018 Device overtemperature shutdown........ 208 memory card..................................................... 233
F2019 Motor overtemperature shutdown.......... 209 F2102 It was impossible to address I2C
F2020 Low device temperature error................ 210 memory............................................................. 233
F2021 Motor temperature monitor defective..... 210 F2103 It was impossible to address EnDat
F2022 Device temperature monitor defec‐ memory............................................................. 234
tive.................................................................... 211 F2104 Commutation offset invalid.................... 234
F2025 Drive not ready for control..................... 211 F2105 Cannot address OEM encoder memo‐
F2026 Undervoltage in power section.............. 212 ry....................................................................... 235
F2027 Excessive oscillation in DC bus............. 212 F2106 Power section error................................ 235
F2028 Excessive deviation............................... 213 F2107 Incorrect commutation angle................. 235
F2031 Encoder 1 error: Signal amplitude in‐ F2110 Error in non-cyclical data communic.
correct............................................................... 213 of power section................................................ 236
F2032 Validation error during commutation F2120 Memory card could not be initialized..... 237
fine adjustment.................................................. 214 F2131 Incorrect switching state of probe 1
F2036 Excessive position feedback differ‐ input signal........................................................ 237
ence.................................................................. 215 F2140 CCD slave error..................................... 238
F2037 Excessive position command differ‐ F2150 MLD motion function block error............ 238
ence.................................................................. 216 F2174 Loss of encoder 1 reference.................. 239
F2040 Device overtemperature 2 shutdown..... 217 F2175 Loss of encoder 2 reference.................. 240
F2042 Encoder 2: Encoder signals incorrect.... 217 F2176 Loss of measuring encoder reference... 241
F2043 Measuring encoder: Encoder signals F2177 Encoder 1 modulo limitation error.......... 242
incorrect............................................................ 218 F2178 Encoder 2 modulo limitation error.......... 242
F2048 Low battery voltage (encoder)............... 219 F2179 Modulo limitation error of measuring
F2050 Overflow of target position preset encoder............................................................. 243
memory............................................................. 220 F2190 Incorrect Ethernet configuration............. 243
F2051 No sequential block in target position F2191 No automatic CCD slaves IP configu‐
preset memory.................................................. 221 ration................................................................. 244
F2053 Incr. encoder emulator: Pulse fre‐ F2270 Analog input, wire break........................ 244
quency too high................................................. 221 F2802 Error in mains synchronization.............. 245
F2054 Incr. encoder emulator: Hardware F2802 PLL is not synchronized
error.................................................................. 222 VM F2802.................................................... 478
F2055 External power supply dig. I/O error...... 222 F2811 Mains underfrequency........................... 245
F2056 Overload at dig. I/Os.............................. 223 F2812 Mains overfrequency............................. 246
F2057 Target position out of travel range......... 223 F2813 Mains connection function error............. 246
F2058 Internal overflow by positioning input..... 224 F2814 Undervoltage in mains........................... 246
F2059 Incorrect command value direction VM F2814.................................................... 478
when positioning............................................... 225 F2815 Overvoltage in mains............................. 247
VM F2815.................................................... 478
Index
F2816 Softstart fault power supply unit............. 248 F3360 SMO: Local I/O system error................. 194
F2817 Overvoltage in power section F3450 CSS stack error..................................... 195
VM F2817.................................................... 479 F3451 FSoE stack error.................................... 196
F2818 Phase failure.......................................... 248 F3452 FSoE stack connection error................. 197
VM F2818.................................................... 479 F3460 PROFIsafe error.................................... 197
F2819 Mains failure.......................................... 249 F3461 PROFIsafe connection error.................. 198
F2820 Braking resistor overload....................... 249 F4009 Bus failure.............................................. 177
F2821 Error in control of braking resistor.......... 250 F4004 Error during phase progression............. 176
F2822 Mains connection temperature moni‐ F4005 Error during phase regression............... 177
toring defective.................................................. 251 F4003 Invalid communication phase shut‐
F2825 Switch-on threshold braking resistor down................................................................. 176
too low............................................................... 251 F4006 Phase switching without ready signal.... 177
F2833 Ground fault in motor line F4002 RTD telegram failure.............................. 175
VM F2833.................................................... 480 F4001 Sync telegram failure............................. 174
F2834 Contactor control error........................... 252 F4011 Communication watchdog: Overload
VM F2834.................................................... 480 of cyclic communication.................................... 179
F2835 Mains contactor wiring error F4012 Incorrect I/O length................................ 180
VM F2835.................................................... 480 F4016 PLC double real-time channel failure..... 180
F2836 DC bus balancing monitor error............. 252 F4017 sercos: Incorrect sequence during
F2837 Contactor monitoring error phase switch..................................................... 180
VM F2837.................................................... 480 F4019 sercos: Incorrect sequence upon
F2840 Error supply shutdown phase start........................................................ 181
VM F2840.................................................... 481 F4020 sercos: Cable break (L+F to NRT)......... 181
F2841 Shutdown: Mains connection over‐ F4034 Emergency-Stop activated..................... 182
temperature....................................................... 252 F4140 CCD communication error..................... 183
F2860 Overcurrent in mains-side power sec‐ F4141 CCD: IO configuration changed............. 183
tion.................................................................... 253 F4142 CCD: Ring buffer overflow..................... 183
VM F2860.................................................... 482 F4150 CSAL error............................................. 184
F2890 Invalid device code F6002 Assignment of encoder for synchroni‐
VM F2890.................................................... 482 zation is not allowed.......................................... 160
F2891 Incorrect interrupt timing F6005 Cam table invalid................................... 163
VM F2891.................................................... 482 F6004 Error in MotionProfile............................. 161
F2892 Hardware variant not supported F6006 Incorrect initialization of effective
VM F2892.................................................... 482 master axis position.......................................... 163
F3010 SMO: IO mapper inputs error................ 185 F6008 Internal overflow when calculating
F3100 F3 test error during machine accept‐ positioning profile.............................................. 164
ance test........................................................... 186 F6003 Motion step skipped............................... 161
F3101 Axis validation missing........................... 186 F6001 Non-fatal system error........................... 160
F3112 Safe reference missing.......................... 186 F6007 Switching to non-initialized operation
F3115 Brake check time interval exceeded...... 187 mode................................................................. 164
F3119 Error in initialization of P-0-3212............ 187 F6010 PLC runtime error.................................. 165
F3131 Control error, safe inputs of HSZ........... 188 F6024 Maximum braking time exceeded.......... 165
F3132 SDL validation error............................... 188 F6028 Position limit value exceeded (over‐
F3134 Dynamization time interval incorrect...... 189 flow).................................................................. 166
F3135 Zone bus error....................................... 190 F6029 Positive position limit exceeded............. 167
F3141 Operating status selection validation F6030 Negative position limit exceeded........... 168
error.................................................................. 190 F6034 Emergency-Stop activated..................... 169
F3142 Activation time of enabling control ex‐ F6042 Both travel range limit switches acti‐
ceeded.............................................................. 191 vated................................................................. 169
F3150 Safety zone module: Temperature F6043 Positive travel range limit switch acti‐
monitoring error................................................. 191 vated................................................................. 170
F3151 Safety zone module: 24 volt error.......... 192 F6044 Negative travel range limit switch ac‐
F3152 Safety zone module: DYN error............. 192 tivated............................................................... 171
F3153 Safety zone module: SZE/SZA error..... 192 F6058 Internal overflow by positioning input..... 172
F3165 Faulty SMO reference signal................. 193 F6059 Incorrect command value direction
F3166 Reference position check failed............. 193 when positioning............................................... 172
F3167 Encoder evaluation warning.................. 194 F6140 CCD slave error (emergency halt)......... 173
F3304 SMO: System error................................ 194
Index
F6200 Velocity command value > standstill F8025 Overvoltage in power section................ 110
window in SOS.................................................. 173 F8027 STO/SBC while drive enabled............... 110
F7009 Homing velocity exceeded..................... 145 F8028 Overcurrent in power section................. 111
F7010 Safely-limited increment exceeded........ 145 F8033 Ground fault in motor line...................... 111
F7011 SMP, SLP: Safe position limit value, F8034 Communication error, power section
positive exceeded............................................. 146 modules............................................................ 112
F7012 SMP, SLP: Safe position limit value, F8042 Encoder 2 error: Signal amplitude in‐
negative exceeded............................................ 147 correct............................................................... 112
F7013 Velocity threshold exceeded.................. 148 F8044 Device-internal module communica‐
F7014 Timeout in safely-monitored transient tion disturbed.................................................... 113
oscillation.......................................................... 148 F8055 Incorrect processing of diagnostic
F7015 SMO: Cross data comparison error....... 149 message........................................................... 113
F7020 Safe maximum speed exceeded........... 149 F8057 Device overload shutdown
F7023 SLE: Safe position limit value, posi‐ VM F8057.................................................... 482
tive exceeded.................................................... 149 F8060 Overcurrent in power section................. 114
F7024 SLE: Safe position limit value, nega‐ F8064 Interruption of motor phase.................... 114
tive exceeded.................................................... 150 F8069 Error in device-internal power supply.... 115
F7030 Position window for safe operating F8070 Control voltage failure............................ 116
stop exceeded................................................... 151 F8071 Overvoltage of control voltage............... 116
F7031 Incorrect direction of motion.................. 152 F8076 Error in error angle loop......................... 117
F7032 Forced zone safety................................ 153 F8078 Speed loop error.................................... 118
F7033 Safety zone module: Hardware error..... 153 F8079 Velocity limit value exceeded................. 119
F7034 Safety zone module: SDL error............. 154 F8091 Power section defective......................... 119
F7035 Zone bus error....................................... 154 F8099 Fatal error in power section................... 120
F7050 Maximum transition time exceeded....... 155 F8100 Error when initializing the parameter
F7051 Safely-monitored deceleration excee‐ handling............................................................ 120
ded.................................................................... 157 F8102 Error when initializing power section..... 121
F7052 Selected target velocity exceeded......... 159 F8118 Invalid power section/firmware combi‐
F7100 F7 test error during machine accept‐ nation................................................................ 122
ance test........................................................... 159 F8120 Invalid control section/firmware com‐
F8009 Autom. commutation timeout: Axis in bination............................................................. 122
motion............................................................... 101 F8122 Control section defective....................... 123
F8008 Autom. commutation: Axis blocked........ 100 F8128 Error when initializing an optional in‐
F8003 Communication error with mains con‐ terface............................................................... 123
nection module.................................................. 100 F8129 Incorrect optional module firmware........ 124
F8000 Fatal hardware error................................ 99 F8140 Fatal CCD error..................................... 124
F8005 Motor initialization velocity too high....... 100 F8300 Dynamization pulse width incorrect....... 124
F8001 Telegram failure, power section par‐ F8301 Error when checking selection sig‐
allel bus............................................................... 99 nals................................................................... 125
F8010 Autom. commutation: Max. motion F8302 Error when checking switch-off chan‐
range when moving back.................................. 101 nels STO/SBC................................................... 126
F8011 Commutation offset could not be de‐ F8303 System error STO/SBC......................... 126
termined............................................................ 102 F8304 SMO: System error................................ 127
F8012 Autom. commutation: Max. motion F8313 SMO: Incorrect parameterization........... 127
range................................................................. 103 F8314 SMO: Incorrect configuration................. 127
F8013 Automatic commutation: Current too F8315 SMO: Error in encoder initialization....... 129
low..................................................................... 104 F8316 SMO: Incorrect change of system
F8014 Automatic commutation: Overcurrent.... 105 state.................................................................. 130
F8015 Automatic commutation: Timeout.......... 105 F8319 SMO: INIT system error......................... 130
F8016 Automatic commutation: Iteration F8320 SMO: Invalid module/firmware combi‐
without result..................................................... 106 nation................................................................ 130
F8017 Automatic commutation: Incorrect F8321 SMO: Invalid circuit board/firmware
commutation adjustment................................... 106 combination....................................................... 130
F8018 Device overtemperature shutdown........ 107 F8323 SMO: Error in deactivation..................... 131
F8021 Motor encoder: Incorrect enc. signals F8324 SMO: Error in activation......................... 131
(can be cleared in PM)...................................... 108 F8330 SMO: Configuration data record has
F8022 Enc. 1: Enc. signals incorr. (can be not been activated............................................. 132
cleared in PM)................................................... 109 F8350 Maximum transition time exceeded....... 132
Index
F8351 Safely-monitored deceleration excee‐ FF20 (CiA): F4142............................................ 183

ded.................................................................... 133 FF21 (CiA): F6140............................................ 173
F8352 Drive enable set in STO......................... 134 FF22 (CiA): F8140............................................ 124
F8353 SBC system error.................................. 134 FF23 (CiA): F4140............................................ 183
F8354 Error when checking interrupting cir‐ FFFFFFFF......................................................... 678
cuits................................................................... 135 Firmware download........................................... 513
F8355 Incorrect processing of diagnostic Messages..................................................... 513
message........................................................... 136 Firmware replacement...................................... 513
F8356 SMO: Incorrect parameter process‐ FL: CKS ........................................................... 516
ing..................................................................... 136 FL: DL .............................................................. 515
F8359 SMO: Encoder evaluation error............. 136 FL: PROG ........................................................ 516
F8395 SMO: Drive system configuration FL:E FW ........................................................... 516
error.................................................................. 137 FL:E LD ............................................................ 516
F8813 Connection error mains choke............... 137 FL:ERASE ........................................................ 516
VM F8813.................................................... 483 FL:F ACC ......................................................... 517
F8815 Overvoltage in mains............................. 138 FL:F CKS ......................................................... 517
F8817 Overvoltage in power section................ 138 FL:F2100 .......................................................... 517
F8820 Braking resistor overload....................... 139 FL:F8120 .......................................................... 517
F8821 Transistor short circuit of braking re‐ FL:F8122 .......................................................... 517
sistor control...................................................... 139 FL:F9002 .......................................................... 516
F8830 Power section error................................ 140 FoE..................................................................... 45
F8833 Ground fault current (does not de‐
cay)................................................................... 140 G
F8835 Inconsistency in power section con‐ Ground fault current
figuration........................................................... 140 See also: Ground fault current..................... 140
F8836 DC bus balancing monitor..................... 141 Ground fault in motor line, F2833..................... 480
F8838 Overcurrent external braking resistor.... 142
F8860 Overcurrent in power section (does H
not decay)......................................................... 142 H14
F8899 Fatal error in power section................... 143 LED (KMV)................................................... 497
F9001 Error internal function call........................ 95 LED (KSM/KMS).......................................... 486
F9002 Error internal RTOS function call............. 96 H25 H26
F9004 Hardware trap LED (KSM/KMS).......................................... 490
VM F9004.................................................... 483 H49, H52.1…H54
F9005 Processor exception................................ 96 LEDs (KCU02)............................................. 495
F9003 Watchdog................................................. 96 Hardware trap, F9004....................................... 483
F9100 Hardware watchdog................................. 96 Hardware variant not supported, F2892........... 482
F9200 Booting error programming module......... 97 Helpdesk........................................................... 527
F9201 Booting error device................................. 97 Hotline............................................................... 527
F9202 Processor watchdog................................ 97 HP0..................................................................... 45
FF0A (CiA): E4013............................................ 275 HP1..................................................................... 45
FF0B (CiA): E4014............................................ 275 HP2..................................................................... 45
FF0C (CiA): E4016........................................... 276
FF0D (CiA): E4017........................................... 277
I
FF0F (CiA): E8034............................................ 262
I LB...................................................................... 47
FF01 (CiA): E2092............................................ 310
Inappropriate use................................................ 32
FF02 (CiA): E2140............................................ 311
Consequences, exclusion of liability.............. 31
FF03 (CiA): E2667............................................ 314
Incorrect interrupt timing, F2891....................... 482
FF04 (CiA): E2810............................................ 315
INI....................................................................... 45
FF09 (CiA): E4012............................................ 274
Invalid device code, F2890............................... 482
FF10 (CiA): E8058............................................ 267
FF11 (CiA): E8399............................................ 269
FF12 (CiA): F2008............................................ 203 K
FF13 (CiA): F2009............................................ 203 KCU02
FF14 (CiA): F2025............................................ 211 LEDs............................................................ 495
FF17 (CiA): F2150............................................ 238 KMS02
FF18 (CiA): F2140............................................ 238 H14 LED...................................................... 486
FF19 (CiA): F4141............................................ 183 H25 H26 LED............................................... 490
Index
KMV03 PLL is not synchronized, E8802....................... 476

LED H14...................................................... 497 PLL is not synchronized, F2802........................ 478
KSM02 PM....................................................................... 46
H14 LED...................................................... 486 PO....................................................................... 46
H25 H26 LED............................................... 490 PRM.................................................................... 46
Protective extra-low voltage................................ 37
L
Lb........................................................................ 47 R
LB........................................................................ 47 Reference documentations................................. 28
LED Restore?........................................................... 312
H2................................................................ 501 RL....................................................................... 46
H14 (KMV)................................................... 497 RTO..................................................................... 46
H14 (KSM/KMS).......................................... 486 Run PLC............................................................. 50
H25 and H26................................................ 503
H25 H26 (KSM/KMS)................................... 490 S
H49, H52.1…H54 (KCU02).......................... 495 SAFE................................................................... 46
HAT02.......................................................... 509 Safety instructions for electric drives and
HNA05......................................................... 507 controls............................................................... 33
Hxx05........................................................... 507 SCM.................................................................... 46
Mains connection module HNA05................ 507 sercos service channel error codes.................. 254
Optional safety technology module.............. 503 Service hotline.................................................. 527
Safety zone module HSZ01......................... 501 SMES.................................................................. 46
Load new Safety?............................................... 50 SMM.................................................................... 46
SMST1................................................................ 46
M SMST2................................................................ 46
Mains contactor wiring error, F2835................. 480 SOP.................................................................... 46
Means of representation Starting/stopping the PLC after booting.............. 49
Conventions of notation................................. 27 State-of-the-art.................................................... 31
Notations........................................................ 27 STO..................................................................... 46
Notes.............................................................. 27 Stop PLC............................................................. 49
Supply module in operation, A0502.................. 475
O Supply module in voltage control, A0500.......... 475
OM...................................................................... 45 Support............................................................. 527
OP....................................................................... 45 Synchronous motor........................................... 326
Operating states.................................................. 45
Hxx05............................................................. 46 T
Supply unit..................................................... 46 TFTP ErrorFrame.............................................. 514
Overcurrent in mains-side power section, 01: Incorrect filename in read request......... 514
F2860................................................................ 482 02: Unknown filename in write request........ 514
Overvoltage in mains, E8815............................ 477 03: Update not allowed - Axis still in OM..... 514
Overvoltage in mains, F2815............................ 478 04: Update not allowed - Loader unavail‐
Overvoltage in power section, F2817............... 479 able.............................................................. 514
05: Internal flash access error (driver as‐
P sign)............................................................. 514
P0........................................................................ 46 06: Internal flash access error (driver re‐
P1........................................................................ 46 lease)........................................................... 514
P2........................................................................ 46 07: Error during programming data.............. 514
P3........................................................................ 46 08: FWA file error - incorrect IBF format...... 514
P4........................................................................ 46 09: FWA file error - Hardware not suppor‐
PA....................................................................... 46 ted................................................................ 514
PELV................................................................... 37 10: Error during data verification.................. 514
Phase failure, E2818......................................... 476 11: FWA file error - CRC checksum in‐
Phase failure, E8818......................................... 477 correct.......................................................... 514
Phase failure, F2818......................................... 479 12: File error - incorrect data length............. 514
PL........................................................................ 46 20: FWA read not allowed - axis still in
PLC ?.................................................................. 49 OM............................................................... 515
PLC error.................................. 205, 206, 207, 208
Index
21: FWA read not allowed - update ac‐

tive............................................................... 515
22: Error reading FWA data......................... 515
31: Update not allowed - other update ac‐
tive............................................................... 515
32: File error - incorrect IBF Format............. 515
50: Axis ready for update............................. 515
52: Update of <filename> successful........... 515
53: Communication timeout during up‐
date.............................................................. 515
60: Reboot not allowed - update active........ 515
61: Reboot not allowed - device still in
OM............................................................... 515
62: Reboot not allowed - no previous up‐
date.............................................................. 515
U
Undervoltage in mains, E8814.......................... 477
Undervoltage in mains, F2814.......................... 478
Unknown operating mode, A0800..................... 476
Update?............................................................ 313
Use
Appropriate use.............................................. 31
Inappropriate use........................................... 32
V
VM AF............................................................... 476
VM charg........................................................... 475
VM E2818......................................................... 476
VM E8802......................................................... 476
VM E8814......................................................... 477
VM E8815......................................................... 477
VM E8818......................................................... 477
VM F2802......................................................... 478
VM F2814......................................................... 478
VM F2815......................................................... 478
VM F2817......................................................... 479
VM F2818......................................................... 479
VM F2833......................................................... 480
VM F2834......................................................... 480
VM F2835......................................................... 480
VM F2837......................................................... 480
VM F2840......................................................... 481
VM F2860......................................................... 482
VM F2890......................................................... 482
VM F2891......................................................... 482
VM F2892......................................................... 482
VM F8057......................................................... 482
VM F8813......................................................... 483
VM F9004......................................................... 483
VM Lb................................................................ 475
VM ZKS............................................................. 475
Z
ZKS..................................................................... 47
Notes
Notes
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics
*R911326738*
R911326738
DOK-INDRV*-GEN1-DIAG**-RE10-EN-P

錯誤訊息Diagnostic Messages - MPx-16 to MPx-20 & PSB - R911326738 - 10

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錯誤訊息Diagnostic Messages - MPx-16 to MPx-20 & PSB - R911326738 - 10

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Rexroth IndraDrive

MPx-16 to MPx-20 and PSB

Reference Book Edition 10

Title Rexroth IndraDrive

Type of Documentation Reference Book

Document Typecode DOK-INDRV*-GEN1-DIAG**-RE10-EN-P

Internal File Reference RS-5624389d89da524c0a6846a001846601-9-en-US-4

Record of Revision Edition Release Date Notes

Copyright © Bosch Rexroth AG 2016

2 Important directions for use......................................................................................... 31

3 Safety instructions for electric drives and controls....................................................... 33

4 Basics on device diagnostics....................................................................................... 43

6 Diagnostic Messages when Booting the Devices........................................................ 49

7 Diagnostic status messages........................................................................................ 51

9 Warnings (Exxxx)....................................................................................................... 257

10 Diagnostic command messages ............................................................................... 321

11 Diagnostic messages of HMV01 supply units............................................................ 475

12 Diagnostic display, Rexroth IndraDrive Mi................................................................. 485

13 Diagnostic Display, Safety Zone Module HSZ01....................................................... 501

14 Diagnostic display Optional safety technology modules "Sx".................................... 503

15 Diagnostic displays of additional modules for "Hxx05".............................................. 507

16 Diagnostic display of the "HAT02" holding brake control module.............................. 509

17 Other Display Messages............................................................................................ 511

18 Handling, diagnostic and service functions................................................................ 513

19 Notes for Machine Operators..................................................................................... 519

20 Notes for installation programmers............................................................................ 521

21 Service and support................................................................................................... 527

22 CiA mapping.............................................................................................................. 529

Detailed diagnostics................................................................................................... 539

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EtherNet/IP™ is a trademark under license of Open DeviceNet Vendor

Ethernet POWERLINK is a real-time capable field bus based on Ethernet.

PROFINET® (Process Field Network) is the open Industrial Ethernet

TwinCAT® registered and licensed trademark of Beckhoff Automation

1.2 About this documentation

In the firmware versions 16 and 17, the "Diagnostic no." attribute

To maintain compatibility of S-0-0390 in the firmware version 18

● CiA error code:

Edition Release date Notes

DOK-INDRV*-GEN1-DIAG**-RE01-EN-P 2009-06 First edition

Tab. 1-2: Record of revisions

What? How? For example...

Tab. 1-3: Conventions of notation

This box contains important information that should be taken into

This symbol highlights useful tips and tricks.

Signal words in accordance with ANSI Z535.6-2011 draw the reader's

Title Kind of documentation Document typecode1) Material number

…Cs Project Planning Manual HCS01******-PRxx-EN-P 322210

1) In the document typecodes, "xx" is a wild card for the current

A Asynchronous Motors MAD / MAF Project Planning Manual MAD/MAF****-PRxx-EN-P 295781

1) In the document typecodes, "xx" is a placeholder for the current

Rexroth Connection Cables Selection Data CABLE*INDRV-CAxx-EN-P 322949

1) In the document typecodes, "xx" is a wild card for the current

MPx-20 Application Manual MP*-20VRS**-APxx-EN-P 345608

Title Type of documentation Document typecode1) Material number

MPx-18 Release Notes MP*-18VRS**-RNxx-EN-P 338658

1) In the document typecodes, "xx" is a placeholder for the current

Important directions for use

2 Important directions for use

WARNING Personal injury and property damage caused

Rexroth as manufacturer is not liable for any damages resulting